From 654546e3382b87610a51d01d17c917fb8d8bbaeb Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Tue, 26 Jul 2016 22:06:14 -0400 Subject: stepper: Support stepper phase adjustments when homing Add support for enhancing the precision of endstop switches by also inspecting the phase of the stepper motor when the endstop triggers. Signed-off-by: Kevin O'Connor --- klippy/cartesian.py | 2 ++ 1 file changed, 2 insertions(+) (limited to 'klippy/cartesian.py') diff --git a/klippy/cartesian.py b/klippy/cartesian.py index f061f673..b904d73f 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -33,6 +33,8 @@ class CartKinematics: accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) for i in StepList if axes_d[i]]) return velocity_factor * move_d, accel_factor * move_d + def get_homed_position(self): + return [s.get_homed_position() for s in self.steppers] def home(self, toolhead, axes): # Each axis is homed independently and in order homing_state = homing.Homing(toolhead, axes) -- cgit v1.2.3-70-g09d2