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homing: Remove no longer needed homing time delay code

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Now that homing is implemented via "drip moves", it is no longer
necessary to round the homing speed and it is no longer necessary to
add a delay for cpu processing time.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-06-27 13:11:58 -04:00
committed by KevinOConnor
parent 43064d197d
commit dd34768e3a
5 changed files with 11 additions and 44 deletions
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5
klippy/kinematics/cartesian.py
View File

@@ -66,10 +66,7 @@ class CartKinematics:
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
limit_speed = None
if axis == 2:
limit_speed = self.max_z_velocity
homing_state.home_rails([rail], forcepos, homepos, limit_speed)
homing_state.home_rails([rail], forcepos, homepos)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():

5
klippy/kinematics/corexy.py
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@@ -60,10 +60,7 @@ class CoreXYKinematics:
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
limit_speed = None
if axis == 2:
limit_speed = self.max_z_velocity
homing_state.home_rails([rail], forcepos, homepos, limit_speed)
homing_state.home_rails([rail], forcepos, homepos)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for rail in self.rails:

3
klippy/kinematics/delta.py
View File

@@ -101,8 +101,7 @@ class DeltaKinematics:
homing_state.set_axes([0, 1, 2])
forcepos = list(self.home_position)
forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home_rails(self.rails, forcepos, self.home_position,
limit_speed=self.max_z_velocity)
homing_state.home_rails(self.rails, forcepos, self.home_position)
def motor_off(self, print_time):
self.limit_xy2 = -1.
for rail in self.rails:

5
klippy/kinematics/polar.py
View File

@@ -63,10 +63,7 @@ class PolarKinematics:
else:
forcepos[axis] += position_max - hi.position_endstop
# Perform homing
limit_speed = None
if axis == 2:
limit_speed = self.max_z_velocity
homing_state.home_rails([rail], forcepos, homepos, limit_speed)
homing_state.home_rails([rail], forcepos, homepos)
def home(self, homing_state):
# Always home XY together
homing_axes = homing_state.get_axes()