From f6d4284d5ccc7e3041ab3d89a0a9244edcd157b9 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 6 Dec 2017 10:13:58 -0500 Subject: homing: Directly interact with the kinematic class on query_endstops() Move the query_endstop logic out of toolhead.py and into homing.py. Signed-off-by: Kevin O'Connor --- klippy/homing.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) (limited to 'klippy/homing.py') diff --git a/klippy/homing.py b/klippy/homing.py index 8ee78530..9f56a6e9 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -87,11 +87,9 @@ class Homing: self.toolhead.motor_off() raise -def query_endstops(print_time, query_flags, steppers): - if query_flags == "get_mcu_position": - # Only the commanded position is requested - return [(s.name.upper(), s.mcu_stepper.get_mcu_position()) - for s in steppers] +def query_endstops(toolhead): + print_time = toolhead.get_last_move_time() + steppers = toolhead.get_kinematics().get_steppers() out = [] for s in steppers: for mcu_endstop, name in s.get_endstops(): @@ -101,6 +99,10 @@ def query_endstops(print_time, query_flags, steppers): out.append((name, mcu_endstop.query_endstop_wait())) return out +def query_position(toolhead): + steppers = toolhead.get_kinematics().get_steppers() + return [(s.name.upper(), s.mcu_stepper.get_mcu_position()) for s in steppers] + class EndstopError(Exception): pass -- cgit v1.2.3-70-g09d2