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homing: Directly interact with the kinematic class on query_endstops()

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Move the query_endstop logic out of toolhead.py and into homing.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-06 10:13:58 -05:00
parent 8d9ca6f2dd
commit f6d4284d5c
6 changed files with 15 additions and 21 deletions
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4
klippy/corexy.py
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@ -33,6 +33,8 @@ class CoreXYKinematics:
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def get_steppers(self):
return list(self.steppers)
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:
@ -71,8 +73,6 @@ class CoreXYKinematics:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def query_endstops(self, print_time, query_flags):
return homing.query_endstops(print_time, query_flags, self.steppers)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers: