toolhead: Pass set_position() homing_axes parameter as a string

Use strings such as "xyz" to specify which axes are to be considered
homing during a set_position() call.  This makes the parameter a
little less cryptic.

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

10 files changed, 19 insertions, 15 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 1db40f4f..0c22172b 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -65,7 +65,8 @@ class CartKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 15169e50..891e58e0 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -39,7 +39,7 @@ class CoreXYKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-            if i in homing_axes:
+            if "xyz"[i] in homing_axes:
                 self.limits[i] = rail.get_range()
     def clear_homing_state(self, axes):
         for i, _ in enumerate(self.limits):
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index 5298698d..34def72a 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -39,7 +39,7 @@ class CoreXZKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-            if i in homing_axes:
+            if "xyz"[i] in homing_axes:
                 self.limits[i] = rail.get_range()
     def clear_homing_state(self, axes):
         for i, _ in enumerate(self.limits):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index f10586b7..beb1826f 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -88,7 +88,7 @@ class DeltaKinematics:
                         math.sqrt(self.very_slow_xy2)))
         self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
         self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, spos):
@@ -101,7 +101,7 @@ class DeltaKinematics:
         for rail in self.rails:
             rail.set_position(newpos)
         self.limit_xy2 = -1.
-        if tuple(homing_axes) == (0, 1, 2):
+        if homing_axes == "xyz":
             self.need_home = False
     def clear_homing_state(self, axes):
         # Clearing homing state for each axis individually is not implemented
diff --git a/klippy/kinematics/deltesian.py b/klippy/kinematics/deltesian.py
index d0865475..e0118b34 100644
--- a/klippy/kinematics/deltesian.py
+++ b/klippy/kinematics/deltesian.py
@@ -87,7 +87,7 @@ class DeltesianKinematics:
         self.axes_min = toolhead.Coord(*[l[0] for l in self.limits], e=0.)
         self.axes_max = toolhead.Coord(*[l[1] for l in self.limits], e=0.)
         self.homed_axis = [False] * 3
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, sp):
@@ -113,8 +113,9 @@ class DeltesianKinematics:
     def set_position(self, newpos, homing_axes):
         for rail in self.rails:
             rail.set_position(newpos)
-        for n in homing_axes:
-            self.homed_axis[n] = True
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
+            self.homed_axis[axis] = True
     def clear_homing_state(self, axes):
         for i, _ in enumerate(self.limits):
             if i in axes:
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 72b0b85b..6d72a89c 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -67,7 +67,8 @@ class HybridCoreXYKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py
index 041df8d7..05fe096e 100644
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -67,7 +67,8 @@ class HybridCoreXZKinematics:
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 8369d386..548b4bac 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -45,9 +45,9 @@ class PolarKinematics:
     def set_position(self, newpos, homing_axes):
         for s in self.steppers:
             s.set_position(newpos)
-        if 2 in homing_axes:
+        if "z" in homing_axes:
             self.limit_z = self.rails[1].get_range()
-        if 0 in homing_axes and 1 in homing_axes:
+        if "x" in homing_axes and "y" in homing_axes:
             self.limit_xy2 = self.rails[0].get_range()[1]**2
     def clear_homing_state(self, axes):
         if 0 in axes or 1 in axes:
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index 89f963d2..6b457ccb 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -74,7 +74,7 @@ class RotaryDeltaKinematics:
         max_xy = math.sqrt(self.max_xy2)
         self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
         self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_position(self, stepper_positions):
@@ -84,7 +84,7 @@ class RotaryDeltaKinematics:
         for rail in self.rails:
             rail.set_position(newpos)
         self.limit_xy2 = -1.
-        if tuple(homing_axes) == (0, 1, 2):
+        if homing_axes == "xyz":
             self.need_home = False
     def clear_homing_state(self, axes):
         # Clearing homing state for each axis individually is not implemented
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index c69d1b6d..0003826b 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -26,7 +26,7 @@ class WinchKinematics:
         acoords = list(zip(*self.anchors))
         self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
         self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return list(self.steppers)
     def calc_position(self, stepper_positions):