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/homing.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) (limited to 'klippy/homing.py') diff --git a/klippy/homing.py b/klippy/homing.py index 29c1a48f..b4c5290f 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -23,6 +23,8 @@ class Homing: self.states.append((self.do_wait_endstop, ())) def plan_move(self, newpos, speed): self.states.append((self.do_move, (newpos, speed))) + def plan_calc_position(self, callback): + self.states.append((self.do_calc_position, (callback,))) def plan_axes_update(self, callback): self.states.append((callback, (self,))) def check_busy(self, eventtime): @@ -37,12 +39,11 @@ class Homing: def fill_coord(self, coord): # Fill in any None entries in 'coord' with current toolhead position - thcoord = self.toolhead.get_position() - coord = list(coord) + thcoord = list(self.toolhead.get_position()) for i in range(len(coord)): - if coord[i] is None: - coord[i] = thcoord[i] - return coord + if coord[i] is not None: + thcoord[i] = coord[i] + return thcoord def do_move(self, newpos, speed): # Issue a move command self.toolhead.move(self.fill_coord(newpos), speed) @@ -68,6 +69,8 @@ class Homing: # Finished del self.endstops[:] return False + def do_calc_position(self, callback): + self.toolhead.set_position(self.fill_coord(callback(self))) # Helper code for querying and reporting the status of the endstops class QueryEndstops: -- cgit v1.2.3-70-g09d2