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homing: Create QueryEndstops class from gcode

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Create the QueryEndstops in the gcode handler instead of in the
kinematic classes.  This simplifies the gcode handler as it can
directly register its response callback.

Also, store the stepper name in the stepper class.  Also, propagate
the print_time of the query request to the mcu_endstop class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-11-17 17:24:03 -05:00
parent 7ef8c0442a
commit 9e1059afb4
8 changed files with 37 additions and 36 deletions
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10
klippy/delta.py
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@@ -10,9 +10,9 @@ StepList = (0, 1, 2)
class DeltaKinematics:
def __init__(self, printer, config):
steppers = ['stepper_a', 'stepper_b', 'stepper_c']
self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
for n in steppers]
self.steppers = [stepper.PrinterStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['a', 'b', 'c']]
self.need_motor_enable = True
radius = config.getfloat('delta_radius')
arm_length = config.getfloat('delta_arm_length')
@@ -111,8 +111,8 @@ class DeltaKinematics:
for i in StepList:
self.steppers[i].motor_enable(move_time, 1)
self.need_motor_enable = False
def query_endstops(self, move_time):
return homing.QueryEndstops(["a", "b", "c"], self.steppers)
def query_endstops(self, query_state):
query_state.set_steppers(self.steppers)
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2