diff options
Diffstat (limited to 'klippy/extras/stepper_enable.py')
| -rw-r--r-- | klippy/extras/stepper_enable.py | 22 |
1 files changed, 20 insertions, 2 deletions
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) |