diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 30 |
1 files changed, 2 insertions, 28 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index aac7a96f..09000a42 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -52,10 +52,8 @@ class PrinterStepper: self.step_delta = self.mcu_stepper.step_delta self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None)) # Register STEPPER_BUZZ command - self.gcode = printer.lookup_object('gcode') - self.gcode.register_mux_command( - 'STEPPER_BUZZ', 'STEPPER', config.get_name(), self.cmd_STEPPER_BUZZ, - desc=self.cmd_STEPPER_BUZZ_help) + stepper_buzz = printer.try_load_module(config, 'stepper_buzz') + stepper_buzz.register_stepper(self, config.get_name()) 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 @@ -74,30 +72,6 @@ class PrinterStepper: if self.need_motor_enable != (not enable): self.enable.set_enable(print_time, enable) self.need_motor_enable = not enable - cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it" - def cmd_STEPPER_BUZZ(self, params): - logging.info("Stepper buzz %s", self.name) - need_motor_enable = self.need_motor_enable - # Move stepper - toolhead = self.printer.lookup_object('toolhead') - toolhead.wait_moves() - pos = self.mcu_stepper.get_commanded_position() - print_time = toolhead.get_last_move_time() - if need_motor_enable: - self.motor_enable(print_time, 1) - print_time += .1 - was_ignore = self.mcu_stepper.set_ignore_move(False) - for i in range(10): - self.step_const(print_time, pos, 1., 4., 0.) - print_time += .3 - self.step_const(print_time, pos + 1., -1., 4., 0.) - toolhead.reset_print_time(print_time + .7) - print_time = toolhead.get_last_move_time() - self.mcu_stepper.set_ignore_move(was_ignore) - if need_motor_enable: - print_time += .1 - self.motor_enable(print_time, 0) - toolhead.reset_print_time(print_time) # Support for stepper controlled linear axis with an endstop class PrinterHomingStepper(PrinterStepper): |