aboutsummaryrefslogtreecommitdiffstats
path: root/klippy/kinematics
diff options
context:
space:
mode:
Diffstat (limited to 'klippy/kinematics')
-rw-r--r--klippy/kinematics/cartesian.py4
-rw-r--r--klippy/kinematics/corexy.py6
-rw-r--r--klippy/kinematics/corexz.py6
-rw-r--r--klippy/kinematics/hybrid_corexy.py16
-rw-r--r--klippy/kinematics/hybrid_corexz.py16
-rw-r--r--klippy/kinematics/polar.py6
6 files changed, 27 insertions, 27 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 6c44c120..0cd7849a 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -15,7 +15,7 @@ class CartKinematics:
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
for n in 'xyz']
for rail, axis in zip(self.rails, 'xyz'):
- rail.setup_itersolve('cartesian_stepper_alloc', axis)
+ rail.setup_itersolve('cartesian_stepper_alloc', axis.encode())
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@@ -37,7 +37,7 @@ class CartKinematics:
dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
dc_rail = stepper.LookupMultiRail(dc_config)
- dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis)
+ dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis.encode())
for s in dc_rail.get_steppers():
toolhead.register_step_generator(s.generate_steps)
self.dual_carriage_rails = [
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 33f5fcf5..f7249b93 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -16,9 +16,9 @@ class CoreXYKinematics:
self.rails[1].get_steppers()[0])
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[0].get_steppers()[0])
- self.rails[0].setup_itersolve('corexy_stepper_alloc', '+')
- self.rails[1].setup_itersolve('corexy_stepper_alloc', '-')
- self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
+ self.rails[0].setup_itersolve('corexy_stepper_alloc', b'+')
+ self.rails[1].setup_itersolve('corexy_stepper_alloc', b'-')
+ self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index dbd5c372..66e05423 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -16,9 +16,9 @@ class CoreXZKinematics:
self.rails[2].get_steppers()[0])
self.rails[2].get_endstops()[0][0].add_stepper(
self.rails[0].get_steppers()[0])
- self.rails[0].setup_itersolve('corexz_stepper_alloc', '+')
- self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
- self.rails[2].setup_itersolve('corexz_stepper_alloc', '-')
+ self.rails[0].setup_itersolve('corexz_stepper_alloc', b'+')
+ self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y')
+ self.rails[2].setup_itersolve('corexz_stepper_alloc', b'-')
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 8bc153c5..14926c38 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -18,9 +18,9 @@ class HybridCoreXYKinematics:
stepper.LookupMultiRail(config.getsection('stepper_z'))]
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[0].get_steppers()[0])
- self.rails[0].setup_itersolve('corexy_stepper_alloc', '-')
- self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
- self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
+ self.rails[0].setup_itersolve('corexy_stepper_alloc', b'-')
+ self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y')
+ self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
@@ -33,15 +33,15 @@ class HybridCoreXYKinematics:
self.rails.append(stepper.PrinterRail(dc_config))
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0])
- self.rails[3].setup_itersolve('cartesian_stepper_alloc', 'y')
+ self.rails[3].setup_itersolve('cartesian_stepper_alloc', b'y')
dc_rail_0 = idex_modes.DualCarriagesRail(
self.printer, self.rails[0], axis=0, active=True,
- stepper_alloc_active=('corexy_stepper_alloc','-'),
- stepper_alloc_inactive=('cartesian_reverse_stepper_alloc','y'))
+ stepper_alloc_active=('corexy_stepper_alloc', b'-'),
+ stepper_alloc_inactive=('cartesian_reverse_stepper_alloc',b'y'))
dc_rail_1 = idex_modes.DualCarriagesRail(
self.printer, self.rails[3], axis=0, active=False,
- stepper_alloc_active=('corexy_stepper_alloc','+'),
- stepper_alloc_inactive=('cartesian_stepper_alloc','y'))
+ stepper_alloc_active=('corexy_stepper_alloc', b'+'),
+ stepper_alloc_inactive=('cartesian_stepper_alloc', b'y'))
self.dc_module = idex_modes.DualCarriages(self.printer,
dc_rail_0, dc_rail_1, axis=0)
for s in self.get_steppers():
diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py
index fcdca692..11f77234 100644
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -18,9 +18,9 @@ class HybridCoreXZKinematics:
stepper.LookupMultiRail(config.getsection('stepper_z'))]
self.rails[2].get_endstops()[0][0].add_stepper(
self.rails[0].get_steppers()[0])
- self.rails[0].setup_itersolve('corexz_stepper_alloc', '-')
- self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
- self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
+ self.rails[0].setup_itersolve('corexz_stepper_alloc', b'-')
+ self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y')
+ self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
@@ -33,15 +33,15 @@ class HybridCoreXZKinematics:
self.rails.append(stepper.PrinterRail(dc_config))
self.rails[2].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0])
- self.rails[3].setup_itersolve('cartesian_stepper_alloc', 'z')
+ self.rails[3].setup_itersolve('cartesian_stepper_alloc', b'z')
dc_rail_0 = idex_modes.DualCarriagesRail(
self.printer, self.rails[0], axis=0, active=True,
- stepper_alloc_active=('corexz_stepper_alloc','-'),
- stepper_alloc_inactive=('cartesian_reverse_stepper_alloc','z'))
+ stepper_alloc_active=('corexz_stepper_alloc', b'-'),
+ stepper_alloc_inactive=('cartesian_reverse_stepper_alloc',b'z'))
dc_rail_1 = idex_modes.DualCarriagesRail(
self.printer, self.rails[3], axis=0, active=False,
- stepper_alloc_active=('corexz_stepper_alloc','+'),
- stepper_alloc_inactive=('cartesian_stepper_alloc','z'))
+ stepper_alloc_active=('corexz_stepper_alloc', b'+'),
+ stepper_alloc_inactive=('cartesian_stepper_alloc', b'z'))
self.dc_module = idex_modes.DualCarriages(self.printer,
dc_rail_0, dc_rail_1, axis=0)
for s in self.get_steppers():
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index ef8c0d97..deed26d0 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -13,9 +13,9 @@ class PolarKinematics:
units_in_radians=True)
rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
- stepper_bed.setup_itersolve('polar_stepper_alloc', 'a')
- rail_arm.setup_itersolve('polar_stepper_alloc', 'r')
- rail_z.setup_itersolve('cartesian_stepper_alloc', 'z')
+ stepper_bed.setup_itersolve('polar_stepper_alloc', b'a')
+ rail_arm.setup_itersolve('polar_stepper_alloc', b'r')
+ rail_z.setup_itersolve('cartesian_stepper_alloc', b'z')
self.rails = [rail_arm, rail_z]
self.steppers = [stepper_bed] + [ s for r in self.rails
for s in r.get_steppers() ]
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 10:35:32 +0000