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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-06-21 18:34:33 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-06-22 14:09:01 -0400 |
| commit | 968ed58b612995c479f2f751222fa1060bcb8493 (patch) | |
| tree | 4645dcde4cee845e69a6414ba364d1d1a7d2cd90 | |
| parent | b96542f0e5d2ea7c0fe025d5d4ffecfcb697e457 (diff) | |
| download | kutter-968ed58b612995c479f2f751222fa1060bcb8493.tar.gz kutter-968ed58b612995c479f2f751222fa1060bcb8493.tar.xz kutter-968ed58b612995c479f2f751222fa1060bcb8493.zip | |
stepper: Add a get_range() method to PrinterHomingStepper
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/cartesian.py | 12 | ||||
| -rw-r--r-- | klippy/corexy.py | 7 | ||||
| -rw-r--r-- | klippy/stepper.py | 2 |
3 files changed, 11 insertions, 10 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 3eea00e0..3da1f8ec 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -59,18 +59,17 @@ class CartKinematics: s = self.steppers[i] s.set_position(newpos[i]) if i in homing_axes: - self.limits[i] = (s.position_min, s.position_max) + self.limits[i] = s.get_range() def _home_axis(self, homing_state, axis, stepper): s = stepper # Determine moves + position_min, position_max = s.get_range() if s.homing_positive_dir: - pos = s.position_endstop - 1.5*( - s.position_endstop - s.position_min) + pos = s.position_endstop - 1.5*(s.position_endstop - position_min) rpos = s.position_endstop - s.homing_retract_dist r2pos = rpos - s.homing_retract_dist else: - pos = s.position_endstop + 1.5*( - s.position_max - s.position_endstop) + pos = s.position_endstop + 1.5*(position_max - s.position_endstop) rpos = s.position_endstop + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist # Initial homing @@ -165,8 +164,7 @@ class CartKinematics: extruder_pos = toolhead.get_position()[3] toolhead.set_position(self.get_position() + [extruder_pos]) if self.limits[dc_axis][0] <= self.limits[dc_axis][1]: - self.limits[dc_axis] = ( - dc_stepper.position_min, dc_stepper.position_max) + self.limits[dc_axis] = dc_stepper.get_range() self.need_motor_enable = True cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active" def cmd_SET_DUAL_CARRIAGE(self, params): diff --git a/klippy/corexy.py b/klippy/corexy.py index 8a434bf8..bf46a8ad 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -52,20 +52,21 @@ class CoreXYKinematics: s = self.steppers[i] s.set_position(pos[i]) if i in homing_axes: - self.limits[i] = (s.position_min, s.position_max) + self.limits[i] = s.get_range() def home(self, homing_state): # Each axis is homed independently and in order for axis in homing_state.get_axes(): s = self.steppers[axis] # Determine moves + position_min, position_max = s.get_range() if s.homing_positive_dir: pos = s.position_endstop - 1.5*( - s.position_endstop - s.position_min) + s.position_endstop - position_min) rpos = s.position_endstop - s.homing_retract_dist r2pos = rpos - s.homing_retract_dist else: pos = s.position_endstop + 1.5*( - s.position_max - s.position_endstop) + position_max - s.position_endstop) rpos = s.position_endstop + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist # Initial homing diff --git a/klippy/stepper.py b/klippy/stepper.py index 551dfde0..149a3a40 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -170,6 +170,8 @@ class PrinterHomingStepper(PrinterStepper): ffi_main, ffi_lib = chelper.get_ffi() self.setup_itersolve(ffi_main.gc( ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) + def get_range(self): + return self.position_min, self.position_max def get_endstops(self): return [(self.mcu_endstop, self.get_name(short=True))] def get_homed_offset(self): |