homing: Implement second home from homing.py

Move the logic for performing the second home from the kinematics
classes to the generic homing code.

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

3 files changed, 28 insertions, 70 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index e6882061..6e971fb5 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -55,38 +55,24 @@ class CartKinematics:
             if i in homing_axes:
                 self.limits[i] = rail.get_range()
     def _home_axis(self, homing_state, axis, rail):
-        # Determine moves
+        # Determine movement
         position_min, position_max = rail.get_range()
         hi = rail.get_homing_info()
+        homepos = [None, None, None, None]
+        homepos[axis] = hi.position_endstop
+        forcepos = list(homepos)
         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
+            forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
         else:
-            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 = hi.speed
-        second_homing_speed = hi.second_homing_speed
+            forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
+        # Perform homing
+        limit_speed = None
         if axis == 2:
-            homing_speed = min(homing_speed, self.max_z_velocity)
-            second_homing_speed = min(second_homing_speed, self.max_z_velocity)
-        homepos = [None, None, None, None]
-        homepos[axis] = hi.position_endstop
-        coord = [None, None, None, None]
-        coord[axis] = pos
-        homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
-        # Retract
-        coord[axis] = rpos
-        homing_state.retract(coord, homing_speed)
-        # Home again
-        coord[axis] = r2pos
-        homing_state.home(coord, homepos, rail.get_endstops(),
-                          second_homing_speed, second_home=True)
+            limit_speed = self.max_z_velocity
+        homing_state.home_rails([rail], forcepos, homepos, limit_speed)
         # Set final homed position
-        coord[axis] = hi.position_endstop + rail.get_homed_offset()
-        homing_state.set_homed_position(coord)
+        forcepos[axis] = hi.position_endstop + rail.get_homed_offset()
+        homing_state.set_homed_position(forcepos)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 4121c4b6..99f48fbf 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -48,42 +48,25 @@ class CoreXYKinematics:
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
             rail = self.rails[axis]
-            # Determine moves
+            # Determine movement
             position_min, position_max = rail.get_range()
             hi = rail.get_homing_info()
+            homepos = [None, None, None, None]
+            homepos[axis] = hi.position_endstop
+            forcepos = list(homepos)
             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
+                forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
             else:
-                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 = hi.speed
-            second_homing_speed = hi.second_homing_speed
+                forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
+            # Perform homing
+            limit_speed = None
             if axis == 2:
-                homing_speed = min(homing_speed, self.max_z_velocity)
-                second_homing_speed = min(second_homing_speed,
-                                          self.max_z_velocity)
-            homepos = [None, None, None, None]
-            homepos[axis] = hi.position_endstop
-            coord = [None, None, None, None]
-            coord[axis] = pos
-            homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
-            # Retract
-            coord[axis] = rpos
-            homing_state.retract(coord, homing_speed)
-            # Home again
-            coord[axis] = r2pos
-            homing_state.home(coord, homepos, rail.get_endstops(),
-                              second_homing_speed, second_home=True)
+                limit_speed = self.max_z_velocity
+            homing_state.home_rails([rail], forcepos, homepos, limit_speed)
             if axis == 2:
                 # Support endstop phase detection on Z axis
-                coord[axis] = hi.position_endstop + rail.get_homed_offset()
-                homing_state.set_homed_position(coord)
+                forcepos[axis] = hi.position_endstop + rail.get_homed_offset()
+                homing_state.set_homed_position(forcepos)
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for rail in self.rails:
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index f340f9b4..6be91661 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -97,22 +97,11 @@ class DeltaKinematics:
     def home(self, homing_state):
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
-        endstops = [es for rail in self.rails for es in rail.get_endstops()]
-        # Initial homing - assume homing speed same for all steppers
-        hi = self.rails[0].get_homing_info()
-        homing_speed = min(hi.speed, self.max_z_velocity)
-        second_homing_speed = min(hi.second_homing_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] - hi.retract_dist
-        homing_state.retract(coord, homing_speed)
-        # Home again
-        coord[2] -= hi.retract_dist
-        homing_state.home(coord, homepos, endstops,
-                          second_homing_speed, second_home=True)
+        forcepos = list(homepos)
+        forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
+        homing_state.home_rails(self.rails, forcepos, homepos,
+                                limit_speed=self.max_z_velocity)
         # Set final homed position
         spos = [ep + rail.get_homed_offset()
                 for ep, rail in zip(self.abs_endstops, self.rails)]