diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 41 |
1 files changed, 18 insertions, 23 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index cd354fbe..cc108768 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -74,17 +74,13 @@ class PrinterStepper: class PrinterRail: def __init__(self, config, need_position_minmax=True, default_position_endstop=None): - # Primary stepper - stepper = PrinterStepper(config) - self.steppers = [stepper] - self.name = stepper.get_name(short=True) - self.get_commanded_position = stepper.get_commanded_position - # Primary endstop and its position - printer = config.get_printer() - ppins = printer.lookup_object('pins') - mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin')) - self.endstops = [(mcu_endstop, self.name)] - stepper.add_to_endstop(mcu_endstop) + # Primary stepper and endstop + self.steppers = [] + self.endstops = [] + self.add_extra_stepper(config) + self.get_commanded_position = self.steppers[0].get_commanded_position + # Primary endstop position + mcu_endstop = self.endstops[0][0] if hasattr(mcu_endstop, "get_position_endstop"): self.position_endstop = mcu_endstop.get_position_endstop() elif default_position_endstop is None: @@ -92,8 +88,6 @@ class PrinterRail: else: self.position_endstop = config.getfloat( 'position_endstop', default_position_endstop) - query_endstops = printer.try_load_module(config, 'query_endstops') - query_endstops.register_endstop(mcu_endstop, self.name) # Axis range if need_position_minmax: self.position_min = config.getfloat('position_min', 0.) @@ -142,17 +136,18 @@ class PrinterRail: def add_extra_stepper(self, config): stepper = PrinterStepper(config) self.steppers.append(stepper) - mcu_endstop = self.endstops[0][0] - endstop_pin = config.get('endstop_pin', None) - if endstop_pin is not None: - printer = config.get_printer() - ppins = printer.lookup_object('pins') - mcu_endstop = ppins.setup_pin('endstop', endstop_pin) - name = stepper.get_name(short=True) - self.endstops.append((mcu_endstop, name)) - query_endstops = printer.try_load_module(config, 'query_endstops') - query_endstops.register_endstop(mcu_endstop, name) + if self.endstops and config.get('endstop_pin', None) is None: + # No endstop defined - use primary endstop + stepper.add_to_endstop(self.endstops[0][0]) + return + printer = config.get_printer() + ppins = printer.lookup_object('pins') + mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin')) stepper.add_to_endstop(mcu_endstop) + name = stepper.get_name(short=True) + self.endstops.append((mcu_endstop, name)) + query_endstops = printer.try_load_module(config, 'query_endstops') + query_endstops.register_endstop(mcu_endstop, name) def add_to_endstop(self, mcu_endstop): for stepper in self.steppers: stepper.add_to_endstop(mcu_endstop) |