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homing: Pass list of endstops (not steppers) to the homing code

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The homing code wants the list of endstops to enable during a homing
operation - it's confusing to pass the steppers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-12-05 21:51:44 -05:00
parent 31db4cc772
commit 7785d3a87d
6 changed files with 40 additions and 39 deletions
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9
klippy/delta.py
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@@ -102,6 +102,7 @@ class DeltaKinematics:
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
endstops = [es for s in self.steppers for es in s.get_endstops()]
s = self.steppers[0] # Assume homing speed same for all steppers
self.need_home = False
# Initial homing
@@ -109,14 +110,14 @@ class DeltaKinematics:
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
homing_state.home(list(coord), homepos, self.steppers, homing_speed)
homing_state.home(coord, homepos, endstops, homing_speed)
# Retract
coord[2] = homepos[2] - s.homing_retract_dist
homing_state.retract(list(coord), homing_speed)
homing_state.retract(coord, homing_speed)
# Home again
coord[2] -= s.homing_retract_dist
homing_state.home(list(coord), homepos, self.steppers
, homing_speed/2.0, second_home=True)
homing_state.home(coord, homepos, endstops,
homing_speed/2.0, second_home=True)
# Set final homed position
spos = self._cartesian_to_actuator(homepos)
spos = [spos[i] + self.steppers[i].position_endstop - self.max_z