Implement Home function for CNC and make Home button on gui effective

Ledger-Donjon · Nov 14, 2023 · 3f162ed · 3f162ed
1 parent e42803b
commit 3f162ed
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diff --git a/pystages/cncrouter.py b/pystages/cncrouter.py
@@ -304,3 +304,12 @@ def set_origin(self) -> str:
         :return: The response of the CNC ('ok' if command has been submitted correctly).
         """
         return self.send_receive("G92 X0 Y0 Z0")
+
+    def home(self):
+        """
+        Sends a `$H` command. The stage responds a message `[MSG:Sleeping]` after `ok`.
+        
+        Take caution for collisions before calling this method !
+        """
+        self.send("$H")
+
diff --git a/pystages/gui/gui.py b/pystages/gui/gui.py
@@ -142,3 +142,5 @@ def bouton_moved(self):
     def home(self):
         if self.stage is None:
             return
+
+        self.stage.home()