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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-11-18 11:49:05 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-18 14:04:10 -0500 |
| commit | 2b5b899d35d33ed6b8bfb90133d22095d0a56c66 (patch) | |
| tree | 8a0c8eb604ee6a30de9ee21d4571200717eda33e /klippy/delta.py | |
| parent | 781cf608d778798c976d3cb4edb6ea6b028b66e1 (diff) | |
| download | kutter-2b5b899d35d33ed6b8bfb90133d22095d0a56c66.tar.gz kutter-2b5b899d35d33ed6b8bfb90133d22095d0a56c66.tar.xz kutter-2b5b899d35d33ed6b8bfb90133d22095d0a56c66.zip | |
homing: Direct stepper phase detection from kinematic classes
Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 34b5a9e2..d54c0a3c 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -78,7 +78,7 @@ class DeltaKinematics: return matrix_sub(circumcenter, matrix_mul(normal, dist)) def set_position(self, newpos): self.stepper_pos = self.cartesian_to_actuator(newpos) - def get_homed_position(self): + def get_homed_position(self, homing_state): pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset()) * self.steppers[i].step_dist for i in StepList] @@ -101,6 +101,7 @@ class DeltaKinematics: coord[2] -= s.homing_retract_dist homing_state.plan_home(list(coord), homepos, self.steppers , s.homing_speed/2.0) + homing_state.plan_calc_position(self.get_homed_position) def motor_off(self, move_time): self.limit_xy2 = -1. for stepper in self.steppers: |