Instead of checking the endstop trigger directly after a retract move,
verify some distance is traveled during the following homing
operation. This reduces the amount of synchronization between mcu and
host during homing.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
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>
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>
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>
Kevin O'Connor