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homing: Calculate homing position based on trigger time

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Calculate the "homing position" using the endstop trigger time instead
of the position of the steppers.

This is in preparation for multi-mcu homing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-04-05 10:59:47 -04:00
parent 1dc2ab048f
commit 3814a13251
3 changed files with 62 additions and 20 deletions
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3
klippy/stepper.py
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@@ -117,7 +117,8 @@ class MCU_stepper:
def get_past_mcu_position(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.stepcompress_find_past_position(self._stepqueue, clock)
pos = ffi_lib.stepcompress_find_past_position(self._stepqueue, clock)
return int(pos)
def get_past_commanded_position(self, print_time):
mcu_pos = self.get_past_mcu_position(print_time)
return mcu_pos * self._step_dist - self._mcu_position_offset