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 <kevin@koconnor.net>

klippy/delta.py

@@ -78,7 +78,7 @@ class DeltaKinematics:
         return matrix_sub(circumcenter, matrix_mul(normal, dist))
     def set_position(self, newpos):
         self.stepper_pos = self.cartesian_to_actuator(newpos)
-    def get_homed_position(self):
+    def get_homed_position(self, homing_state):
         pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset())
                * self.steppers[i].step_dist
                for i in StepList]
@@ -101,6 +101,7 @@ class DeltaKinematics:
         coord[2] -= s.homing_retract_dist
         homing_state.plan_home(list(coord), homepos, self.steppers
                                , s.homing_speed/2.0)
+        homing_state.plan_calc_position(self.get_homed_position)
     def motor_off(self, move_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers: