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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-12-06 09:59:00 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-12-06 19:13:54 -0500 |
| commit | 8d9ca6f2dd96e5b1c71999fb8497487fcb091493 (patch) | |
| tree | dda12433dace1ab95dc26d38fb4dbf752591cb39 /klippy | |
| parent | 1d6af72de5b28a32ef5506b312943caeecaf787b (diff) | |
| download | kutter-8d9ca6f2dd96e5b1c71999fb8497487fcb091493.tar.gz kutter-8d9ca6f2dd96e5b1c71999fb8497487fcb091493.tar.xz kutter-8d9ca6f2dd96e5b1c71999fb8497487fcb091493.zip | |
homing: Directly interact with the kinematic class when homing
Move the homing logic out of toolhead.py and into homing.py. This
simplifies the toolhead logic and centralizes the homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/gcode.py | 4 | ||||
| -rw-r--r-- | klippy/homing.py | 11 | ||||
| -rw-r--r-- | klippy/toolhead.py | 8 |
3 files changed, 13 insertions, 10 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 4af97e8a..c25608fb 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -354,11 +354,11 @@ class GCodeParser: axes.append(self.axis2pos[axis]) if not axes: axes = [0, 1, 2] - homing_state = homing.Homing(self.toolhead, axes) + homing_state = homing.Homing(self.toolhead) if self.is_fileinput: homing_state.set_no_verify_retract() try: - self.toolhead.home(homing_state) + homing_state.home_axes(axes) except homing.EndstopError as e: raise error(str(e)) newpos = self.toolhead.get_position() diff --git a/klippy/homing.py b/klippy/homing.py index db99fea9..8ee78530 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -10,9 +10,9 @@ ENDSTOP_SAMPLE_TIME = .000015 ENDSTOP_SAMPLE_COUNT = 4 class Homing: - def __init__(self, toolhead, changed_axes): + def __init__(self, toolhead): self.toolhead = toolhead - self.changed_axes = changed_axes + self.changed_axes = [] self.verify_retract = True def set_no_verify_retract(self): self.verify_retract = False @@ -79,6 +79,13 @@ class Homing: if s.get_mcu_position() == pos: raise EndstopError( "Endstop %s still triggered after retract" % (name,)) + def home_axes(self, axes): + self.changed_axes = axes + try: + self.toolhead.get_kinematics().home(self) + except EndstopError: + self.toolhead.motor_off() + raise def query_endstops(print_time, query_flags, steppers): if query_flags == "get_mcu_position": diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 3a73bb26..e258f473 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -327,12 +327,6 @@ class ToolHead: self.move_queue.add_move(move) if self.print_time > self.need_check_stall: self._check_stall() - def home(self, homing_state): - try: - self.kin.home(homing_state) - except homing.EndstopError as e: - self.motor_off() - raise def dwell(self, delay, check_stall=True): self.get_last_move_time() self.update_move_time(delay) @@ -382,6 +376,8 @@ class ToolHead: self.reset_print_time() except: logging.exception("Exception in do_shutdown") + def get_kinematics(self): + return self.kin def get_max_velocity(self): return self.max_velocity, self.max_accel def get_max_axis_halt(self): |