diff options
| -rw-r--r-- | klippy/cartesian.py | 10 | ||||
| -rw-r--r-- | klippy/delta.py | 3 | ||||
| -rw-r--r-- | klippy/homing.py | 13 | ||||
| -rw-r--r-- | klippy/toolhead.py | 7 |
4 files changed, 17 insertions, 16 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index c1cddc7d..706ebc5e 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -28,9 +28,12 @@ class CartKinematics: max_xy_speed = min(s.max_velocity for s in self.steppers[:2]) max_xy_accel = min(s.max_accel for s in self.steppers[:2]) return max_xy_speed, max_xy_accel - def get_homed_position(self): - return [s.position_endstop + s.get_homed_offset()*s.step_dist - for s in self.steppers] + def get_homed_position(self, homing_state): + pos = [None]*3 + for axis in homing_state.get_axes(): + s = self.steppers[axis] + pos[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist + return pos def home(self, homing_state): # Each axis is homed independently and in order for axis in homing_state.get_axes(): @@ -59,6 +62,7 @@ class CartKinematics: # Home again coord[axis] = r2pos homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0) + homing_state.plan_calc_position(self.get_homed_position) def motor_off(self, move_time): self.limits = [(1.0, -1.0)] * 3 for stepper in self.steppers: 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: diff --git a/klippy/homing.py b/klippy/homing.py index 29c1a48f..b4c5290f 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -23,6 +23,8 @@ class Homing: self.states.append((self.do_wait_endstop, ())) def plan_move(self, newpos, speed): self.states.append((self.do_move, (newpos, speed))) + def plan_calc_position(self, callback): + self.states.append((self.do_calc_position, (callback,))) def plan_axes_update(self, callback): self.states.append((callback, (self,))) def check_busy(self, eventtime): @@ -37,12 +39,11 @@ class Homing: def fill_coord(self, coord): # Fill in any None entries in 'coord' with current toolhead position - thcoord = self.toolhead.get_position() - coord = list(coord) + thcoord = list(self.toolhead.get_position()) for i in range(len(coord)): - if coord[i] is None: - coord[i] = thcoord[i] - return coord + if coord[i] is not None: + thcoord[i] = coord[i] + return thcoord def do_move(self, newpos, speed): # Issue a move command self.toolhead.move(self.fill_coord(newpos), speed) @@ -68,6 +69,8 @@ class Homing: # Finished del self.endstops[:] return False + def do_calc_position(self, callback): + self.toolhead.set_position(self.fill_coord(callback(self))) # Helper code for querying and reporting the status of the endstops class QueryEndstops: diff --git a/klippy/toolhead.py b/klippy/toolhead.py index bc0356dc..5248a589 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -261,13 +261,6 @@ class ToolHead: self.move_queue.add_move(move) def home(self, homing_state): self.kin.home(homing_state) - def axes_update(homing_state): - pos = self.get_position() - homepos = self.kin.get_homed_position() - for axis in homing_state.get_axes(): - pos[axis] = homepos[axis] - self.set_position(pos) - homing_state.plan_axes_update(axes_update) def dwell(self, delay): self.get_last_move_time() self.update_move_time(delay) |