From 2b5b899d35d33ed6b8bfb90133d22095d0a56c66 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 18 Nov 2016 11:49:05 -0500 Subject: homing: Direct stepper phase detection from kinematic classes Change the scheduling of the final homed position (which takes into account the stepper phases) so that it is scheduled from the kinematic classes instead of from the toolhead class. Signed-off-by: Kevin O'Connor --- klippy/delta.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'klippy/delta.py') diff --git a/klippy/delta.py b/klippy/delta.py index 34b5a9e2..d54c0a3c 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -78,7 +78,7 @@ class DeltaKinematics: return matrix_sub(circumcenter, matrix_mul(normal, dist)) def set_position(self, newpos): self.stepper_pos = self.cartesian_to_actuator(newpos) - def get_homed_position(self): + def get_homed_position(self, homing_state): pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset()) * self.steppers[i].step_dist for i in StepList] @@ -101,6 +101,7 @@ class DeltaKinematics: coord[2] -= s.homing_retract_dist homing_state.plan_home(list(coord), homepos, self.steppers , s.homing_speed/2.0) + homing_state.plan_calc_position(self.get_homed_position) def motor_off(self, move_time): self.limit_xy2 = -1. for stepper in self.steppers: -- cgit v1.2.3-70-g09d2