diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 17 |
1 files changed, 12 insertions, 5 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 4d623094..1f7a58f7 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -16,9 +16,11 @@ class error(Exception): # 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, step_dist, + units_in_radians=False): self._name = name self._step_dist = step_dist + self._units_in_radians = units_in_radians self._mcu = step_pin_params['chip'] self._oid = oid = self._mcu.create_oid() self._mcu.register_config_callback(self._build_config) @@ -47,6 +49,9 @@ class MCU_stepper: if short and self._name.startswith('stepper_'): return self._name[8:] return self._name + def units_in_radians(self): + # Returns true if distances are in radians instead of millimeters + return self._units_in_radians def _dist_to_time(self, dist, start_velocity, accel): # Calculate the time it takes to travel a distance with constant accel time_offset = start_velocity / accel @@ -159,7 +164,7 @@ class MCU_stepper: raise error("Internal error in stepcompress") # Helper code to build a stepper object from a config section -def PrinterStepper(config): +def PrinterStepper(config, units_in_radians=False): printer = config.get_printer() name = config.get_name() # Stepper definition @@ -169,7 +174,8 @@ def PrinterStepper(config): dir_pin = config.get('dir_pin') dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True) step_dist = config.getfloat('step_distance', above=0.) - mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist) + mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist, + units_in_radians) # Support for stepper enable pin handling stepper_enable = printer.try_load_module(config, 'stepper_enable') stepper_enable.register_stepper(mcu_stepper, config.get('enable_pin', None)) @@ -187,8 +193,9 @@ def PrinterStepper(config): # endstops. class PrinterRail: def __init__(self, config, need_position_minmax=True, - default_position_endstop=None): + default_position_endstop=None, units_in_radians=False): # Primary stepper and endstop + self.stepper_units_in_radians = units_in_radians self.steppers = [] self.endstops = [] self.add_extra_stepper(config) @@ -250,7 +257,7 @@ class PrinterRail: def get_endstops(self): return list(self.endstops) def add_extra_stepper(self, config): - stepper = PrinterStepper(config) + stepper = PrinterStepper(config, self.stepper_units_in_radians) self.steppers.append(stepper) if self.endstops and config.get('endstop_pin', None) is None: # No endstop defined - use primary endstop |