diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 10 |
1 files changed, 7 insertions, 3 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: |