diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 566cdf95..8eb0d065 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -7,8 +7,8 @@ import logging class Homing: - def __init__(self, kin, steppers): - self.kin = kin + def __init__(self, toolhead, steppers): + self.toolhead = toolhead self.steppers = steppers self.states = [] @@ -48,27 +48,27 @@ class Homing: def do_move(self, axis_pos, speed): # Issue a move command to axis_pos - newpos = self.kin.get_position() + newpos = self.toolhead.get_position() for axis, pos in axis_pos.items(): newpos[axis] = pos - self.kin.move(newpos, speed) + self.toolhead.move(newpos, speed) return False def do_home(self, axis_pos, speed): # Alter kinematics class to think printer is at axis_pos - newpos = self.kin.get_position() + newpos = self.toolhead.get_position() forcepos = list(newpos) for axis, pos in axis_pos.items(): newpos[axis] = self.steppers[axis].position_endstop forcepos[axis] = pos - self.kin.set_position(forcepos) + self.toolhead.set_position(forcepos) # Start homing and issue move - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() for axis in axis_pos: hz = speed * self.steppers[axis].inv_step_dist es = self.steppers[axis].enable_endstop_checking(print_time, hz) self.endstops.append(es) - self.kin.move(newpos, speed) - self.kin.reset_print_time() + self.toolhead.move(newpos, speed) + self.toolhead.reset_print_time() for es in self.endstops: es.home_finalize() return False |