diff options
| -rw-r--r-- | klippy/cartesian.py | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 50946f03..0f6f8420 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -28,7 +28,7 @@ class CartKinematics: for i in StepList: s = self.steppers[i] s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5)) - def get_homed_position(self, homing_state): + def _get_homed_position(self, homing_state): pos = [None]*3 for axis in homing_state.get_axes(): s = self.steppers[axis] @@ -63,13 +63,13 @@ class CartKinematics: coord[axis] = r2pos homing_state.plan_second_home( list(coord), homepos, [s], s.homing_speed/2.0) - homing_state.plan_calc_position(self.get_homed_position) + homing_state.plan_calc_position(self._get_homed_position) def motor_off(self, move_time): self.limits = [(1.0, -1.0)] * 3 for stepper in self.steppers: stepper.motor_enable(move_time, 0) self.need_motor_enable = True - def check_motor_enable(self, move_time, move): + def _check_motor_enable(self, move_time, move): need_motor_enable = False for i in StepList: if move.axes_d[i]: @@ -78,7 +78,7 @@ class CartKinematics: self.need_motor_enable = need_motor_enable def query_endstops(self, query_state): query_state.set_steppers(self.steppers) - def check_endstops(self, move): + def _check_endstops(self, move): end_pos = move.end_pos for i in StepList: if (move.axes_d[i] @@ -93,18 +93,18 @@ class CartKinematics: xpos, ypos = move.end_pos[:2] if (xpos < limits[0][0] or xpos > limits[0][1] or ypos < limits[1][0] or ypos > limits[1][1]): - self.check_endstops(move) + self._check_endstops(move) if not move.axes_d[2]: # Normal XY move - use defaults return # Move with Z - update velocity and accel for slower Z axis - self.check_endstops(move) + self._check_endstops(move) z_ratio = move.move_d / abs(move.axes_d[2]) move.limit_speed( self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) def move(self, move_time, move): if self.need_motor_enable: - self.check_motor_enable(move_time, move) + self._check_motor_enable(move_time, move) inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: |