diff options
Diffstat (limited to 'klippy/kinematics/winch.py')
| -rw-r--r-- | klippy/kinematics/winch.py | 15 |
1 files changed, 4 insertions, 11 deletions
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 132d0964..30e18949 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -1,6 +1,6 @@ # Code for handling the kinematics of cable winch robots # -# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import stepper, mathutil @@ -20,13 +20,14 @@ class WinchKinematics: a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz']) self.anchors.append(a) s.setup_itersolve('winch_stepper_alloc', *a) + s.set_trapq(toolhead.get_trapq()) + toolhead.register_move_handler(s.generate_steps) # Setup stepper max halt velocity max_velocity, max_accel = toolhead.get_max_velocity() max_halt_velocity = toolhead.get_max_axis_halt() for s in self.steppers: s.set_max_jerk(max_halt_velocity, max_accel) # Setup boundary checks - self.need_motor_enable = True self.set_position([0., 0., 0.], ()) def get_steppers(self, flags=""): return list(self.steppers) @@ -44,19 +45,11 @@ class WinchKinematics: def motor_off(self, print_time): for s in self.steppers: s.motor_enable(print_time, 0) - self.need_motor_enable = True - def _check_motor_enable(self, print_time): - for s in self.steppers: - s.motor_enable(print_time, 1) - self.need_motor_enable = False def check_move(self, move): # XXX - boundary checks and speed limits not implemented pass def move(self, print_time, move): - if self.need_motor_enable: - self._check_motor_enable(print_time) - for s in self.steppers: - s.step_itersolve(move.cmove) + pass def get_status(self): # XXX - homed_checks and rail limits not implemented return {'homed_axes': 'XYZ'} |