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stepper_enable: Directly call clear_homing_state() on motor off event

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Call clear_homing_state() on each motor off event.  This simplifies
the kinematic classes as they no longer need to register and handle
the motor_off event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-01-10 11:31:14 -05:00
parent 5fe333934d
commit c72d73ec45
10 changed files with 1 additions and 36 deletions
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4
klippy/kinematics/rotary_delta.py
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@@ -21,8 +21,6 @@ class RotaryDeltaKinematics:
stepper_configs[2], need_position_minmax=False,
default_position_endstop=a_endstop, units_in_radians=True)
self.rails = [rail_a, rail_b, rail_c]
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Read config
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
@@ -101,8 +99,6 @@ class RotaryDeltaKinematics:
#forcepos[2] = self.calibration.actuator_to_cartesian(min_angles)[2]
forcepos[2] = -1.
homing_state.home_rails(self.rails, forcepos, self.home_position)
def _motor_off(self, print_time):
self.clear_homing_state((0, 1, 2))
def check_move(self, move):
end_pos = move.end_pos
end_xy2 = end_pos[0]**2 + end_pos[1]**2