diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 25 |
1 files changed, 18 insertions, 7 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index c3b9723b..f75a7d06 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -36,18 +36,18 @@ class Homing: print_time = self.toolhead.get_last_move_time() endstops = [] for s in steppers: - es = s.enable_endstop_checking(print_time, s.step_dist / speed) - endstops.append((s, es, s.mcu_stepper.get_mcu_position())) + s.mcu_endstop.home_start(print_time, s.step_dist / speed) + endstops.append((s, s.mcu_stepper.get_mcu_position())) self.toolhead.move(self._fill_coord(movepos), speed) move_end_print_time = self.toolhead.get_last_move_time() self.toolhead.reset_print_time() - for s, es, last_pos in endstops: - es.home_finalize(move_end_print_time) + for s, last_pos in endstops: + s.mcu_endstop.home_finalize(move_end_print_time) # Wait for endstops to trigger - for s, es, last_pos in endstops: + for s, last_pos in endstops: try: - es.home_wait() - except es.error as e: + s.mcu_endstop.home_wait() + except s.mcu_endstop.error as e: raise EndstopError("Failed to home stepper %s: %s" % ( s.name, str(e))) post_home_pos = s.mcu_stepper.get_mcu_position() @@ -57,6 +57,17 @@ class Homing: def set_homed_position(self, pos): self.toolhead.set_position(self._fill_coord(pos)) +def query_endstops(print_time, steppers): + for s in steppers: + s.mcu_endstop.query_endstop(print_time) + out = [] + for s in steppers: + try: + out.append((s.name, s.mcu_endstop.query_endstop_wait())) + except s.mcu_endstop.error as e: + raise EndstopError(str(e)) + return out + class EndstopError(Exception): pass |