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homing: Direct stepper phase detection from kinematic classes

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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 <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-11-18 11:49:05 -05:00
parent 781cf608d7
commit 2b5b899d35
4 changed files with 17 additions and 16 deletions
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10
klippy/cartesian.py
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@@ -28,9 +28,12 @@ class CartKinematics:
max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
max_xy_accel = min(s.max_accel for s in self.steppers[:2])
return max_xy_speed, max_xy_accel
def get_homed_position(self):
return [s.position_endstop + s.get_homed_offset()*s.step_dist
for s in self.steppers]
def get_homed_position(self, homing_state):
pos = [None]*3
for axis in homing_state.get_axes():
s = self.steppers[axis]
pos[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
return pos
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
@@ -59,6 +62,7 @@ class CartKinematics:
# Home again
coord[axis] = r2pos
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
homing_state.plan_calc_position(self.get_homed_position)
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers: