diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 0fb29b25..551dfde0 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -52,11 +52,16 @@ class PrinterStepper: # Wrappers self.step_itersolve = self.mcu_stepper.step_itersolve self.setup_itersolve = self.mcu_stepper.setup_itersolve + self.set_ignore_move = self.mcu_stepper.set_ignore_move + self.get_mcu_position = self.mcu_stepper.get_mcu_position + self.get_commanded_position = self.mcu_stepper.get_commanded_position self.get_step_dist = self.mcu_stepper.get_step_dist def get_name(self, short=False): if short and self.name.startswith('stepper_'): return self.name[8:] return self.name + def add_to_endstop(self, mcu_endstop): + mcu_endstop.add_stepper(self.mcu_stepper) 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 @@ -87,7 +92,7 @@ class PrinterHomingStepper(PrinterStepper): # Endstop and its position ppins = config.get_printer().lookup_object('pins') self.mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin')) - self.mcu_endstop.add_stepper(self.mcu_stepper) + self.add_to_endstop(self.mcu_endstop) if default_position_endstop is None: self.position_endstop = config.getfloat('position_endstop') else: @@ -200,14 +205,13 @@ class PrinterMultiStepper(PrinterHomingStepper): extra = PrinterStepper(extraconfig) self.extras.append(extra) self.all_step_itersolve.append(extra.step_itersolve) + mcu_endstop = self.mcu_endstop extraendstop = extraconfig.get('endstop_pin', None) if extraendstop is not None: ppins = config.get_printer().lookup_object('pins') mcu_endstop = ppins.setup_pin('endstop', extraendstop) - mcu_endstop.add_stepper(extra.mcu_stepper) self.endstops.append((mcu_endstop, extra.get_name(short=True))) - else: - self.mcu_endstop.add_stepper(extra.mcu_stepper) + extra.add_to_endstop(mcu_endstop) self.step_itersolve = self.step_multi_itersolve def step_multi_itersolve(self, cmove): for step_itersolve in self.all_step_itersolve: |