From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Mon, 18 Jan 2021 23:47:44 +0000 (-0800)
Subject: Use home/unhome to zero unhomed axis.
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=fb918af5f6851520e7d37385f9841cf2ac4ea774;p=bbctrl-firmware

Use home/unhome to zero unhomed axis.
---

diff --git a/CHANGELOG.md b/CHANGELOG.md
index cf13d27..6dbd8ff 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ Buildbotics CNC Controller Firmware Changelog
  - Support more gamepads.
  - Added copyright to LCD boot up.
  - Fixed default units handling. #206
+ - Fix zero-all when some axes are homed and some are unhomed.
 
 ## v0.4.15
  - Set GCode variables ``#5400`` and ``#<_tool>``.
diff --git a/src/py/bbctrl/Mach.py b/src/py/bbctrl/Mach.py
index 8a11efc..601e7f1 100644
--- a/src/py/bbctrl/Mach.py
+++ b/src/py/bbctrl/Mach.py
@@ -335,14 +335,9 @@ class Mach(Comm):
             self.mdi('G92%s%f' % (axis, position))
 
         elif state.is_axis_enabled(axis):
-            if self._get_cycle() != 'idle' and not self._is_paused():
-                raise Exception('Cannot set position during ' +
-                                self._get_cycle())
-
-            # Set the absolute position both locally and via the AVR
+            # Set absolute position via planner
             target = position + state.get('offset_' + axis)
-            state.set(axis + 'p', target)
-            super().queue_command(Cmd.set_axis(axis, target))
+            self.mdi('G28.3 %s%f\nG28.2 %s0' % (axis, target, axis))
 
 
     def override_feed(self, override):