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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-11-12 11:41:41 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-12 17:32:18 -0500 |
| commit | bfb34e07017248268474281dc6678a8d141458ad (patch) | |
| tree | 70ea938b8c9686bf3909e4b4a5c1499058af218d /klippy/extras | |
| parent | f50e054bd069a0e7ae9455dfa5ddfc6894c4789e (diff) | |
| download | kutter-bfb34e07017248268474281dc6678a8d141458ad.tar.gz kutter-bfb34e07017248268474281dc6678a8d141458ad.tar.xz kutter-bfb34e07017248268474281dc6678a8d141458ad.zip | |
stepper_enable: Move motor_off() logic to stepper_enable.py
Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py. This simplifies the
toolhead and kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 4 | ||||
| -rw-r--r-- | klippy/extras/stepper_enable.py | 22 |
2 files changed, 20 insertions, 6 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 73766622..da65a5a4 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -35,8 +35,6 @@ class ManualStepper: self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER", stepper_name, self.cmd_MANUAL_STEPPER, desc=self.cmd_MANUAL_STEPPER_help) - self.printer.register_event_handler( - "toolhead:motor_off", self.handle_motor_off) def sync_print_time(self): toolhead = self.printer.lookup_object('toolhead') print_time = toolhead.get_last_move_time() @@ -114,8 +112,6 @@ class ManualStepper: elif 'MOVE' in params: movepos = self.gcode.get_float('MOVE', params) self.do_move(movepos, speed, accel) - def handle_motor_off(self, print_time): - self.do_enable(0) def load_config_prefix(config): return ManualStepper(config) diff --git a/klippy/extras/stepper_enable.py b/klippy/extras/stepper_enable.py index 5d9e6a41..46f93f65 100644 --- a/klippy/extras/stepper_enable.py +++ b/klippy/extras/stepper_enable.py @@ -3,18 +3,36 @@ # Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. +import logging + +DISABLE_STALL_TIME = 0.100 class StepperEnable: def __init__(self, config): self.printer = config.get_printer() + self.steppers = {} + self.printer.register_event_handler("gcode:request_restart", + self._handle_request_restart) # Register M18/M84 commands gcode = self.printer.lookup_object('gcode') gcode.register_command("M18", self.cmd_M18) gcode.register_command("M84", self.cmd_M18) + def register_stepper(self, stepper): + self.steppers[stepper.get_name()] = stepper + def motor_off(self): + toolhead = self.printer.lookup_object('toolhead') + toolhead.dwell(DISABLE_STALL_TIME) + print_time = toolhead.get_last_move_time() + for s in self.steppers.values(): + s.motor_enable(print_time, 0) + self.printer.send_event("stepper_enable:motor_off", print_time) + toolhead.dwell(DISABLE_STALL_TIME) + logging.debug('; Max time of %f', print_time) + def _handle_request_restart(self, print_time): + self.motor_off() def cmd_M18(self, params): # Turn off motors - toolhead = self.printer.lookup_object('toolhead') - toolhead.motor_off() + self.motor_off() def load_config(config): return StepperEnable(config) |