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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-12-05 21:51:44 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-12-06 18:49:14 -0500 |
| commit | 7785d3a87db5609956f93742afe538da6f04a839 (patch) | |
| tree | f1d18641b0acea347bf9b71cf0f0223b2cf9daea /klippy/delta.py | |
| parent | 31db4cc7727e6b8ede83212f7ca950d530836c3e (diff) | |
| download | kutter-7785d3a87db5609956f93742afe538da6f04a839.tar.gz kutter-7785d3a87db5609956f93742afe538da6f04a839.tar.xz kutter-7785d3a87db5609956f93742afe538da6f04a839.zip | |
homing: Pass list of endstops (not steppers) to the homing code
The homing code wants the list of endstops to enable during a homing
operation - it's confusing to pass the steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 5d1452b1..b0ad094e 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -102,6 +102,7 @@ class DeltaKinematics: def home(self, homing_state): # 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 self.need_home = False # Initial homing @@ -109,14 +110,14 @@ class DeltaKinematics: homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2) - homing_state.home(list(coord), homepos, self.steppers, homing_speed) + homing_state.home(coord, homepos, endstops, homing_speed) # Retract coord[2] = homepos[2] - s.homing_retract_dist - homing_state.retract(list(coord), homing_speed) + homing_state.retract(coord, homing_speed) # Home again coord[2] -= s.homing_retract_dist - homing_state.home(list(coord), homepos, self.steppers - , homing_speed/2.0, second_home=True) + homing_state.home(coord, homepos, endstops, + homing_speed/2.0, second_home=True) # Set final homed position spos = self._cartesian_to_actuator(homepos) spos = [spos[i] + self.steppers[i].position_endstop - self.max_z |