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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-11-08 10:39:32 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-08 10:39:32 -0500 |
| commit | afecf7ce36d4d712413d8c90ac055baa51cb26bd (patch) | |
| tree | c4e19f68b397932ad608bb862ced3ba1412ecf97 /klippy | |
| parent | 5e6127869ab767dcc39642af09e08c79efc84888 (diff) | |
| download | kutter-afecf7ce36d4d712413d8c90ac055baa51cb26bd.tar.gz kutter-afecf7ce36d4d712413d8c90ac055baa51cb26bd.tar.xz kutter-afecf7ce36d4d712413d8c90ac055baa51cb26bd.zip | |
stepper: Default to a high direction pin meaning positive direction
Invert the default meaning of the stepper direction pin. Instead of
treating a low value as position motion, treat a high value as
positive motion. This matches what other firmwares do, and it matches
what common stepper motor drivers document.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/cartesian.py | 4 | ||||
| -rw-r--r-- | klippy/extruder.py | 6 |
2 files changed, 5 insertions, 5 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 16db25d2..0a5f7961 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -105,9 +105,9 @@ class CartKinematics: self.stepper_pos[i] = new_step_pos steps = move.axes_d[i] * inv_step_dist step_offset = step_pos - move.start_pos[i] * inv_step_dist + 0.5 - sdir = 0 + sdir = 1 if steps < 0: - sdir = 1 + sdir = 0 steps = -steps step_offset = 1. - step_offset mcu_time, so = self.steppers[i].prep_move(move_time, sdir) diff --git a/klippy/extruder.py b/klippy/extruder.py index 12f43141..e7f1b40c 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -97,9 +97,9 @@ class PrinterExtruder: steps = forward_d * inv_step_dist step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5 self.stepper_pos = new_step_pos - sdir = 0 + sdir = 1 if steps < 0: - sdir = 1 + sdir = 0 steps = -steps step_offset = 1. - step_offset mcu_time, so = self.stepper.prep_move(move_time, sdir) @@ -142,7 +142,7 @@ class PrinterExtruder: step_offset = start_pos * inv_step_dist - self.stepper_pos + 0.5 self.stepper_pos = new_step_pos mcu_time, so = self.stepper.prep_move( - move_time+accel_t+cruise_t+decel_t, 1) + move_time+accel_t+cruise_t+decel_t, 0) move_step_d = retract_d / steps |