diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 22 |
1 files changed, 15 insertions, 7 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 4a4f9ea4..9ef3fcc4 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -18,12 +18,15 @@ MIN_BOTH_EDGE_DURATION = 0.000000200 # Interface to low-level mcu and chelper code class MCU_stepper: - def __init__(self, name, step_pin_params, dir_pin_params, step_dist, + def __init__(self, name, step_pin_params, dir_pin_params, + rotation_dist, steps_per_rotation, step_pulse_duration=None, units_in_radians=False): self._name = name - self._step_dist = step_dist + self._rotation_dist = rotation_dist + self._steps_per_rotation = steps_per_rotation self._step_pulse_duration = step_pulse_duration self._units_in_radians = units_in_radians + self._step_dist = rotation_dist / steps_per_rotation self._mcu = step_pin_params['chip'] self._oid = oid = self._mcu.create_oid() self._mcu.register_config_callback(self._build_config) @@ -103,9 +106,12 @@ class MCU_stepper: return self._oid def get_step_dist(self): return self._step_dist - def set_step_dist(self, dist): + def get_rotation_distance(self): + return self._rotation_dist, self._steps_per_rotation + def set_rotation_distance(self, rotation_dist): mcu_pos = self.get_mcu_position() - self._step_dist = dist + self._rotation_dist = rotation_dist + self._step_dist = rotation_dist / self._steps_per_rotation self.set_stepper_kinematics(self._stepper_kinematics) self._set_mcu_position(mcu_pos) def is_dir_inverted(self): @@ -222,10 +228,12 @@ def PrinterStepper(config, units_in_radians=False): step_pin_params = ppins.lookup_pin(step_pin, can_invert=True) dir_pin = config.get('dir_pin') dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True) - step_dist = parse_step_distance(config, units_in_radians, True) + rotation_dist, steps_per_rotation = parse_step_distance( + config, units_in_radians, True) step_pulse_duration = config.getfloat('step_pulse_duration', None, minval=0., maxval=.001) - mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist, + mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, + rotation_dist, steps_per_rotation, step_pulse_duration, units_in_radians) # Register with helper modules for mname in ['stepper_enable', 'force_move', 'motion_report']: @@ -263,7 +271,7 @@ def parse_step_distance(config, units_in_radians=None, note_valid=False): raise config.error("full_steps_per_rotation invalid in section '%s'" % (config.get_name(),)) gearing = parse_gear_ratio(config, note_valid) - return rotation_dist / (full_steps * microsteps * gearing) + return rotation_dist, full_steps * microsteps * gearing ###################################################################### |