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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-07-26 22:06:14 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-07-28 11:22:28 -0400 |
| commit | 654546e3382b87610a51d01d17c917fb8d8bbaeb (patch) | |
| tree | 4bba3ad08ded17c6b022eb930bc1e970818733c8 /klippy/cartesian.py | |
| parent | 170389ef145a2805738d8411eb65433de09eeaac (diff) | |
| download | kutter-654546e3382b87610a51d01d17c917fb8d8bbaeb.tar.gz kutter-654546e3382b87610a51d01d17c917fb8d8bbaeb.tar.xz kutter-654546e3382b87610a51d01d17c917fb8d8bbaeb.zip | |
stepper: Support stepper phase adjustments when homing
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index f061f673..b904d73f 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -33,6 +33,8 @@ class CartKinematics: accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) for i in StepList if axes_d[i]]) return velocity_factor * move_d, accel_factor * move_d + def get_homed_position(self): + return [s.get_homed_position() for s in self.steppers] def home(self, toolhead, axes): # Each axis is homed independently and in order homing_state = homing.Homing(toolhead, axes) |