diff options
| -rw-r--r-- | klippy/extras/probe.py | 5 | ||||
| -rw-r--r-- | klippy/extras/z_tilt.py | 9 | ||||
| -rw-r--r-- | klippy/gcode.py | 5 | ||||
| -rw-r--r-- | klippy/kinematics/cartesian.py | 6 | ||||
| -rw-r--r-- | klippy/kinematics/corexy.py | 6 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 4 |
6 files changed, 14 insertions, 21 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 1facfba8..47ea7d73 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -44,9 +44,8 @@ class PrinterProbe: 'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help) def build_config(self): kin = self.printer.lookup_object('toolhead').get_kinematics() - for rail in kin.get_rails("Z"): - for stepper in rail.get_steppers(): - stepper.add_to_endstop(self.mcu_probe) + for stepper in kin.get_steppers('Z'): + stepper.add_to_endstop(self.mcu_probe) def setup_pin(self, pin_params): if (pin_params['pin'] != 'z_virtual_endstop' or pin_params['type'] != 'endstop'): diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py index 98a1807b..b7e36aa9 100644 --- a/klippy/extras/z_tilt.py +++ b/klippy/extras/z_tilt.py @@ -18,6 +18,8 @@ class ZTilt: except: raise config.error("Unable to parse z_positions in %s" % ( config.get_name())) + if len(z_positions) < 2: + raise config.error("z_tilt requires at least two z_positions") self.probe_helper = probe.ProbePointsHelper(config, self) self.z_steppers = [] # Register Z_TILT_ADJUST command @@ -30,12 +32,7 @@ class ZTilt: self.handle_connect() def handle_connect(self): kin = self.printer.lookup_object('toolhead').get_kinematics() - try: - z_steppers = kin.get_rails('Z')[0].get_steppers() - except: - logging.exception("z_tilt stepper lookup") - raise self.printer.config_error( - "z_tilt requires multiple Z steppers") + z_steppers = kin.get_steppers('Z') if len(z_steppers) != len(self.z_positions): raise self.printer.config_error( "z_tilt z_positions needs exactly %d items" % (len(z_steppers),)) diff --git a/klippy/gcode.py b/klippy/gcode.py index 47a8b2d0..8fa6813c 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -602,10 +602,7 @@ class GCodeParser: self.cmd_default(params) return kin = self.toolhead.get_kinematics() - steppers = [] - rails = kin.get_rails() - for rail in rails: - steppers += rail.get_steppers() + steppers = kin.get_steppers() mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position()) for s in steppers]) stepper_pos = " ".join( diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 42c2ae21..4bcfdff3 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -43,10 +43,10 @@ class CartKinematics: self.printer.lookup_object('gcode').register_command( 'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE, desc=self.cmd_SET_DUAL_CARRIAGE_help) - def get_rails(self, flags=""): + def get_steppers(self, flags=""): if flags == "Z": - return [self.rails[2]] - return list(self.rails) + return self.rails[2].get_steppers() + return [s for rail in self.rails for s in rail.get_steppers()] def calc_position(self): return [rail.get_commanded_position() for rail in self.rails] def set_position(self, newpos, homing_axes): diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 46d8def3..47bc3e92 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -32,10 +32,10 @@ class CoreXYKinematics: self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel) self.rails[2].set_max_jerk( min(max_halt_velocity, self.max_z_velocity), self.max_z_accel) - def get_rails(self, flags=""): + def get_steppers(self, flags=""): if flags == "Z": - return [self.rails[2]] - return list(self.rails) + return self.rails[2].get_steppers() + return [s for rail in self.rails for s in rail.get_steppers()] def calc_position(self): pos = [rail.get_commanded_position() for rail in self.rails] return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]] diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 4cf2408d..e51f5c94 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -80,8 +80,8 @@ class DeltaKinematics: % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2), math.sqrt(self.very_slow_xy2))) self.set_position([0., 0., 0.], ()) - def get_rails(self, flags=""): - return list(self.rails) + def get_steppers(self, flags=""): + return [s for rail in self.rails for s in rail.get_steppers()] def _actuator_to_cartesian(self, spos): sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)] return mathutil.trilateration(sphere_coords, self.arm2) |