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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/delta.py
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@ -58,6 +58,8 @@ class DeltaKinematics:
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
def get_steppers(self):
return list(self.steppers)
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2
@ -124,8 +126,6 @@ class DeltaKinematics:
+ self.steppers[i].get_homed_offset()
for i in StepList]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
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.limit_xy2 = -1.
for stepper in self.steppers: