diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 77 |
1 files changed, 47 insertions, 30 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index a2f8c0a6..5d635a35 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -56,7 +56,8 @@ class MCU_stepper: def get_mcu(self): return self._mcu def get_name(self, short=False): - if short and self._name.startswith('stepper_'): + if short and self._name.startswith('stepper'): + # Skip an extra symbol after 'stepper' return self._name[8:] return self._name def units_in_radians(self): @@ -315,23 +316,21 @@ def parse_step_distance(config, units_in_radians=None, note_valid=False): # Stepper controlled rails ###################################################################### -# A motor control "rail" with one (or more) steppers and one (or more) +# A motor control carriage with one (or more) steppers and one (or more) # endstops. -class PrinterRail: +class GenericPrinterRail: def __init__(self, config, need_position_minmax=True, default_position_endstop=None, units_in_radians=False): - # Primary stepper and endstop self.stepper_units_in_radians = units_in_radians + self.printer = config.get_printer() + self.name = config.get_name().split()[-1] self.steppers = [] self.endstops = [] self.endstop_map = {} - self.add_extra_stepper(config) - mcu_stepper = self.steppers[0] - self.get_name = mcu_stepper.get_name - self.get_commanded_position = mcu_stepper.get_commanded_position - self.calc_position_from_coord = mcu_stepper.calc_position_from_coord + self.endstop_pin = config.get('endstop_pin') # Primary endstop position - mcu_endstop = self.endstops[0][0] + self.query_endstops = self.printer.load_object(config, 'query_endstops') + mcu_endstop = self.lookup_endstop(self.endstop_pin, self.name) if hasattr(mcu_endstop, "get_position_endstop"): self.position_endstop = mcu_endstop.get_position_endstop() elif default_position_endstop is None: @@ -380,6 +379,11 @@ class PrinterRail: raise config.error( "Invalid homing_positive_dir / position_endstop in '%s'" % (config.get_name(),)) + def get_name(self, short=False): + if short and self.name.startswith('stepper'): + # Skip an extra symbol after 'stepper' + return self.name[8:] + return self.name def get_range(self): return self.position_min, self.position_max def get_homing_info(self): @@ -394,16 +398,8 @@ class PrinterRail: return list(self.steppers) def get_endstops(self): return list(self.endstops) - def add_extra_stepper(self, 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 - self.endstops[0][0].add_stepper(stepper) - return - endstop_pin = config.get('endstop_pin') - printer = config.get_printer() - ppins = printer.lookup_object('pins') + def lookup_endstop(self, endstop_pin, name): + ppins = self.printer.lookup_object('pins') pin_params = ppins.parse_pin(endstop_pin, True, True) # Normalize pin name pin_name = "%s:%s" % (pin_params['chip_name'], pin_params['pin']) @@ -415,19 +411,32 @@ class PrinterRail: self.endstop_map[pin_name] = {'endstop': mcu_endstop, 'invert': pin_params['invert'], 'pullup': pin_params['pullup']} - name = stepper.get_name(short=True) self.endstops.append((mcu_endstop, name)) - query_endstops = printer.load_object(config, 'query_endstops') - query_endstops.register_endstop(mcu_endstop, name) + self.query_endstops.register_endstop(mcu_endstop, name) else: mcu_endstop = endstop['endstop'] changed_invert = pin_params['invert'] != endstop['invert'] changed_pullup = pin_params['pullup'] != endstop['pullup'] if changed_invert or changed_pullup: - raise error("Printer rail %s shared endstop pin %s " - "must specify the same pullup/invert settings" % ( - self.get_name(), pin_name)) + raise self.printer.config_error( + "Printer rail %s shared endstop pin %s " + "must specify the same pullup/invert settings" % ( + self.get_name(), pin_name)) + return mcu_endstop + def add_stepper(self, stepper, endstop_pin=None, endstop_name=None): + if not self.steppers: + self.get_commanded_position = stepper.get_commanded_position + self.calc_position_from_coord = stepper.calc_position_from_coord + self.steppers.append(stepper) + if endstop_pin is not None: + mcu_endstop = self.lookup_endstop( + endstop_pin, endstop_name or stepper.get_name(short=True)) + else: + mcu_endstop = self.lookup_endstop(self.endstop_pin, self.name) mcu_endstop.add_stepper(stepper) + def add_stepper_from_config(self, config): + stepper = PrinterStepper(config, self.stepper_units_in_radians) + self.add_stepper(stepper, config.get('endstop_pin', None)) def setup_itersolve(self, alloc_func, *params): for stepper in self.steppers: stepper.setup_itersolve(alloc_func, *params) @@ -441,13 +450,21 @@ class PrinterRail: for stepper in self.steppers: stepper.set_position(coord) +def LookupRail(config, need_position_minmax=True, + default_position_endstop=None, units_in_radians=False): + rail = GenericPrinterRail(config, need_position_minmax, + default_position_endstop, units_in_radians) + rail.add_stepper_from_config(config) + return rail + # Wrapper for dual stepper motor support def LookupMultiRail(config, need_position_minmax=True, - default_position_endstop=None, units_in_radians=False): - rail = PrinterRail(config, need_position_minmax, - default_position_endstop, units_in_radians) + default_position_endstop=None, units_in_radians=False): + rail = LookupRail(config, need_position_minmax, + default_position_endstop, units_in_radians) for i in range(1, 99): if not config.has_section(config.get_name() + str(i)): break - rail.add_extra_stepper(config.getsection(config.get_name() + str(i))) + rail.add_stepper_from_config( + config.getsection(config.get_name() + str(i))) return rail |