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stepper: Remove set_tag_position() code

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Have callers store the stepper positions in a dict.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-05-01 00:27:43 -04:00
parent 77bc5e4388
commit c0d860487a
17 changed files with 62 additions and 66 deletions
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25
klippy/extras/homing.py
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@@ -46,8 +46,8 @@ class HomingMove:
# Note start location
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in self.endstops
for s in es.get_steppers()]
@@ -80,9 +80,10 @@ class HomingMove:
for s, name, spos in start_mcu_pos]
if probe_pos:
for s, name, spos, epos in self.end_mcu_pos:
md = (epos - spos) * s.get_step_dist()
s.set_tag_position(s.get_tag_position() + md)
movepos = list(kin.calc_tag_position())[:3] + movepos[3:]
sname = s.get_name()
if sname in kin_spos:
kin_spos[sname] += (epos - spos) * s.get_step_dist()
movepos = list(kin.calc_position(kin_spos))[:3] + movepos[3:]
self.toolhead.set_position(movepos)
# Signal homing/probing move complete
try:
@@ -107,10 +108,13 @@ class Homing:
self.printer = printer
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
self.kin_spos = {}
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def get_stepper_trigger_positions(self):
return self.kin_spos
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
@@ -155,12 +159,13 @@ class Homing:
# Signal home operation complete
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
ret = self.printer.send_event("homing:home_rails_end", self, rails)
if any(ret):
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
self.kin_spos = dict(kin_spos)
self.printer.send_event("homing:home_rails_end", self, rails)
if kin_spos != self.kin_spos:
# Apply any homing offsets
adjustpos = kin.calc_tag_position()
adjustpos = kin.calc_position(self.kin_spos)
for axis in homing_axes:
movepos[axis] = adjustpos[axis]
self.toolhead.set_position(movepos)