Commit Graph

6 Commits

Author SHA1 Message Date
Kevin O'Connor 4f30dce64f homing: Add EndstopMoveError wrapper around EndstopError
Allow an EndstopError to be raised without a destination position.
Introduce EndstopMoveError wrapper so that current callers can
continue to pass in a move destination.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:17:53 -05:00
Kevin O'Connor 2b5b899d35 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>
2016-11-18 14:04:10 -05:00
Kevin O'Connor 781cf608d7 homing: Create Homing class from gcode
Create the Homing class in the gcode handler instead of in the
kinematic classes.  This will make it easier to pass error messages
back to the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:09 -05:00
Kevin O'Connor 9e1059afb4 homing: Create QueryEndstops class from gcode
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>
2016-11-18 14:04:09 -05:00
Kevin O'Connor 5a1ec817d4 stepper: Check if the motor needs to be enabled in the kinematic classes
Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 13:40:35 -05:00
Kevin O'Connor 941427554a delta: Initial support for linear delta kinematics
This adds support for delta based robots.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 12:35:36 -05:00