stepper: Add a get_homing_info() method to PrinterHomingStepper

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

4 files changed, 43 insertions, 32 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 3da1f8ec..29de7f3a 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -64,20 +64,21 @@ class CartKinematics:
         s = stepper
         # Determine moves
         position_min, position_max = s.get_range()
-        if s.homing_positive_dir:
-            pos = s.position_endstop - 1.5*(s.position_endstop - position_min)
-            rpos = s.position_endstop - s.homing_retract_dist
-            r2pos = rpos - s.homing_retract_dist
+        hi = s.get_homing_info()
+        if hi.positive_dir:
+            pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min)
+            rpos = hi.position_endstop - hi.retract_dist
+            r2pos = rpos - hi.retract_dist
         else:
-            pos = s.position_endstop + 1.5*(position_max - s.position_endstop)
-            rpos = s.position_endstop + s.homing_retract_dist
-            r2pos = rpos + s.homing_retract_dist
+            pos = hi.position_endstop + 1.5*(position_max - hi.position_endstop)
+            rpos = hi.position_endstop + hi.retract_dist
+            r2pos = rpos + hi.retract_dist
         # Initial homing
-        homing_speed = s.homing_speed
+        homing_speed = hi.speed
         if axis == 2:
             homing_speed = min(homing_speed, self.max_z_velocity)
         homepos = [None, None, None, None]
-        homepos[axis] = s.position_endstop
+        homepos[axis] = hi.position_endstop
         coord = [None, None, None, None]
         coord[axis] = pos
         homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
@@ -89,7 +90,7 @@ class CartKinematics:
         homing_state.home(coord, homepos, s.get_endstops(),
                           homing_speed/2.0, second_home=True)
         # Set final homed position
-        coord[axis] = s.position_endstop + s.get_homed_offset()
+        coord[axis] = hi.position_endstop + s.get_homed_offset()
         homing_state.set_homed_position(coord)
     def home(self, homing_state):
         # Each axis is homed independently and in order
diff --git a/klippy/corexy.py b/klippy/corexy.py
index bf46a8ad..08d91f1e 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -59,22 +59,23 @@ class CoreXYKinematics:
             s = self.steppers[axis]
             # Determine moves
             position_min, position_max = s.get_range()
-            if s.homing_positive_dir:
-                pos = s.position_endstop - 1.5*(
-                    s.position_endstop - position_min)
-                rpos = s.position_endstop - s.homing_retract_dist
-                r2pos = rpos - s.homing_retract_dist
+            hi = s.get_homing_info()
+            if hi.positive_dir:
+                pos = hi.position_endstop - 1.5*(
+                    hi.position_endstop - position_min)
+                rpos = hi.position_endstop - hi.retract_dist
+                r2pos = rpos - hi.retract_dist
             else:
-                pos = s.position_endstop + 1.5*(
-                    position_max - s.position_endstop)
-                rpos = s.position_endstop + s.homing_retract_dist
-                r2pos = rpos + s.homing_retract_dist
+                pos = hi.position_endstop + 1.5*(
+                    position_max - hi.position_endstop)
+                rpos = hi.position_endstop + hi.retract_dist
+                r2pos = rpos + hi.retract_dist
             # Initial homing
-            homing_speed = s.homing_speed
+            homing_speed = hi.speed
             if axis == 2:
                 homing_speed = min(homing_speed, self.max_z_velocity)
             homepos = [None, None, None, None]
-            homepos[axis] = s.position_endstop
+            homepos[axis] = hi.position_endstop
             coord = [None, None, None, None]
             coord[axis] = pos
             homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
@@ -87,7 +88,7 @@ class CoreXYKinematics:
                               homing_speed/2.0, second_home=True)
             if axis == 2:
                 # Support endstop phase detection on Z axis
-                coord[axis] = s.position_endstop + s.get_homed_offset()
+                coord[axis] = hi.position_endstop + s.get_homed_offset()
                 homing_state.set_homed_position(coord)
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
diff --git a/klippy/delta.py b/klippy/delta.py
index 6903e399..6cd785bc 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -17,12 +17,13 @@ class DeltaKinematics:
                            for n in ['a', 'b', 'c']]
         stepper_a = stepper.PrinterHomingStepper(
             stepper_configs[0], need_position_minmax = False)
+        a_endstop = stepper_a.get_homing_info().position_endstop
         stepper_b = stepper.PrinterHomingStepper(
             stepper_configs[1], need_position_minmax = False,
-            default_position_endstop=stepper_a.position_endstop)
+            default_position_endstop=a_endstop)
         stepper_c = stepper.PrinterHomingStepper(
             stepper_configs[2], need_position_minmax = False,
-            default_position_endstop=stepper_a.position_endstop)
+            default_position_endstop=a_endstop)
         self.steppers = [stepper_a, stepper_b, stepper_c]
         self.need_motor_enable = self.need_home = True
         self.radius = radius = config.getfloat('delta_radius', above=0.)
@@ -31,10 +32,12 @@ class DeltaKinematics:
             sconfig.getfloat('arm_length', arm_length_a, above=radius)
             for sconfig in stepper_configs]
         self.arm2 = [arm**2 for arm in arm_lengths]
-        self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2)
+        self.endstops = [(s.get_homing_info().position_endstop
+                          + math.sqrt(arm2 - radius**2))
                          for s, arm2 in zip(self.steppers, self.arm2)]
         self.limit_xy2 = -1.
-        self.max_z = min([s.position_endstop for s in self.steppers])
+        self.max_z = min([s.get_homing_info().position_endstop
+                          for s in self.steppers])
         self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
         self.limit_z = min([ep - arm
                             for ep, arm in zip(self.endstops, arm_lengths)])
@@ -103,18 +106,18 @@ class DeltaKinematics:
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
         endstops = [es for s in self.steppers for es in s.get_endstops()]
-        s = self.steppers[0] # Assume homing speed same for all steppers
-        # Initial homing
-        homing_speed = min(s.homing_speed, self.max_z_velocity)
+        # Initial homing - assume homing speed same for all steppers
+        hi = self.steppers[0].get_homing_info()
+        homing_speed = min(hi.speed, self.max_z_velocity)
         homepos = [0., 0., self.max_z, None]
         coord = list(homepos)
         coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
         homing_state.home(coord, homepos, endstops, homing_speed)
         # Retract
-        coord[2] = homepos[2] - s.homing_retract_dist
+        coord[2] = homepos[2] - hi.retract_dist
         homing_state.retract(coord, homing_speed)
         # Home again
-        coord[2] -= s.homing_retract_dist
+        coord[2] -= hi.retract_dist
         homing_state.home(coord, homepos, endstops,
                           homing_speed/2.0, second_home=True)
         # Set final homed position
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 149a3a40..629e6a39 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -3,7 +3,7 @@
 # Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import math, logging
+import math, logging, collections
 import homing, chelper
 
 # Tracking of shared stepper enable pins
@@ -172,6 +172,12 @@ class PrinterHomingStepper(PrinterStepper):
             ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
     def get_range(self):
         return self.position_min, self.position_max
+    def get_homing_info(self):
+        homing_info = collections.namedtuple('homing_info', [
+            'speed', 'position_endstop', 'retract_dist', 'positive_dir'])(
+                self.homing_speed, self.position_endstop,
+                self.homing_retract_dist, self.homing_positive_dir)
+        return homing_info
     def get_endstops(self):
         return [(self.mcu_endstop, self.get_name(short=True))]
     def get_homed_offset(self):