From 7785d3a87db5609956f93742afe538da6f04a839 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Tue, 5 Dec 2017 21:51:44 -0500 Subject: homing: Pass list of endstops (not steppers) to the homing code The homing code wants the list of endstops to enable during a homing operation - it's confusing to pass the steppers. Signed-off-by: Kevin O'Connor --- klippy/delta.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) (limited to 'klippy/delta.py') diff --git a/klippy/delta.py b/klippy/delta.py index 5d1452b1..b0ad094e 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -102,6 +102,7 @@ class DeltaKinematics: def home(self, homing_state): # All axes are homed simultaneously homing_state.set_axes([0, 1, 2]) + endstops = [es for s in self.steppers for es in s.get_endstops()] s = self.steppers[0] # Assume homing speed same for all steppers self.need_home = False # Initial homing @@ -109,14 +110,14 @@ class DeltaKinematics: homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2) - homing_state.home(list(coord), homepos, self.steppers, homing_speed) + homing_state.home(coord, homepos, endstops, homing_speed) # Retract coord[2] = homepos[2] - s.homing_retract_dist - homing_state.retract(list(coord), homing_speed) + homing_state.retract(coord, homing_speed) # Home again coord[2] -= s.homing_retract_dist - homing_state.home(list(coord), homepos, self.steppers - , homing_speed/2.0, second_home=True) + homing_state.home(coord, homepos, endstops, + homing_speed/2.0, second_home=True) # Set final homed position spos = self._cartesian_to_actuator(homepos) spos = [spos[i] + self.steppers[i].position_endstop - self.max_z -- cgit v1.2.3-70-g09d2