diff options
Diffstat (limited to 'klippy/extras/homing.py')
| -rw-r--r-- | klippy/extras/homing.py | 14 |
1 files changed, 9 insertions, 5 deletions
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index f0b3dd09..dfadf9cb 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -85,9 +85,8 @@ class Homing: for s, name, spos, epos in end_mcu_pos: md = (epos - spos) * s.get_step_dist() s.set_tag_position(s.get_tag_position() + md) - self.set_homed_position(kin.calc_tag_position()) - else: - self.toolhead.set_position(movepos) + movepos = list(kin.calc_tag_position())[:3] + movepos[3:] + self.toolhead.set_position(movepos) # Signal homing/probing move complete try: self.printer.send_event("homing:homing_move_end", @@ -106,6 +105,7 @@ class Homing: "Probe triggered prior to movement") raise self.printer.command_error( "Endstop %s still triggered after retract" % (name,)) + return movepos def home_rails(self, rails, forcepos, movepos): # Notify of upcoming homing operation self.printer.send_event("homing:home_rails_begin", self, rails) @@ -166,8 +166,12 @@ class PrinterHoming: # Register g-code commands gcode = self.printer.lookup_object('gcode') gcode.register_command('G28', self.cmd_G28) - def new_homing_state(self): - return Homing(self.printer) + def probing_move(self, mcu_probe, pos, speed): + homing_state = Homing(self.printer) + endstops = [(mcu_probe, "probe")] + verify = self.printer.get_start_args().get('debugoutput') is None + return homing_state.homing_move(pos, endstops, speed, + probe_pos=True, verify_movement=verify) def cmd_G28(self, gcmd): # Move to origin axes = [] |