From 20ae4e5d98a6947c5eb5564d0c5cd084d9d42381 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 7 Jul 2016 14:23:48 -0400 Subject: cartesian: Rename CartKinematics class to ToolHead Signed-off-by: Kevin O'Connor --- klippy/homing.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'klippy/homing.py') 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 -- cgit v1.2.3-70-g09d2