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homing: Directly interact with the kinematic class on query_endstops()
Move the query_endstop logic out of toolhead.py and into homing.py. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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6 changed files with 15 additions and 21 deletions
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@ -26,6 +26,8 @@ class CartKinematics:
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self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
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self.steppers[2].set_max_jerk(
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min(max_halt_velocity, self.max_z_velocity), max_accel)
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def get_steppers(self):
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return list(self.steppers)
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def set_position(self, newpos):
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for i in StepList:
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self.steppers[i].set_position(newpos[i])
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@ -62,8 +64,6 @@ class CartKinematics:
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# Set final homed position
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coord[axis] = s.position_endstop + s.get_homed_offset()
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homing_state.set_homed_position(coord)
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def query_endstops(self, print_time, query_flags):
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return homing.query_endstops(print_time, query_flags, self.steppers)
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def motor_off(self, print_time):
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self.limits = [(1.0, -1.0)] * 3
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for stepper in self.steppers:
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