diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/stepper.py | 14 |
1 files changed, 9 insertions, 5 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 7c0e6935..f5002d96 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -6,6 +6,7 @@ import math, logging import homing, pins +# Code storing the definitions for a stepper motor class PrinterStepper: def __init__(self, printer, config): self.name = config.section @@ -48,19 +49,23 @@ class PrinterStepper: self.mcu_enable.set_digital(print_time, enable) self.need_motor_enable = not enable +# Support for stepper controlled linear axis with an endstop class PrinterHomingStepper(PrinterStepper): def __init__(self, printer, config): PrinterStepper.__init__(self, printer, config) - + # Endstop and its position self.mcu_endstop = pins.setup_pin( printer, 'endstop', config.get('endstop_pin')) self.mcu_endstop.add_stepper(self.mcu_stepper) + self.position_endstop = config.getfloat('position_endstop') + # Axis range self.position_min = config.getfloat('position_min', 0.) self.position_max = config.getfloat( 'position_max', 0., above=self.position_min) - self.position_endstop = config.getfloat('position_endstop') - + # Homing mechanics self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.) + self.homing_retract_dist = config.getfloat( + 'homing_retract_dist', 5., above=0.) self.homing_positive_dir = config.getboolean('homing_positive_dir', None) if self.homing_positive_dir is None: axis_len = self.position_max - self.position_min @@ -72,8 +77,7 @@ class PrinterHomingStepper(PrinterStepper): raise config.error( "Unable to infer homing_positive_dir in section '%s'" % ( config.section,)) - self.homing_retract_dist = config.getfloat( - 'homing_retract_dist', 5., above=0.) + # Endstop stepper phase position tracking self.homing_stepper_phases = config.getint( 'homing_stepper_phases', None, minval=0) endstop_accuracy = config.getfloat( |