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* safe_z_home: Support note_z_not_homed() in kinematics (#2500)David Smith2020-03-011-0/+3
| | | Signed-off-by: David Smith <davidosmith@gmail.com>
* kinematics: Remove support for identifying Z steppersKevin O'Connor2020-01-231-3/+1
| | | | | | | | | The caller can now determine which steppers are connected to cartesian Z movement via the new stepper.is_active_axis() method. It is therefore no longer necessary for the kinematic code to identify these steppers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Track if using units of radians instead of millimetersKevin O'Connor2020-01-061-1/+2
| | | | | | | | The STEPPER_BUZZ command needs to know if the axis is using radians instead of millimeters so that it can move a more appropriate distance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* toolhead: Report which axes are homed via get_status()Kevin O'Connor2019-11-241-3/+4
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add get/set_tag_position() and convert calc_position()Kevin O'Connor2019-11-131-4/+4
| | | | | | | | | Rename calc_position() to calc_tag_position() and have it calculate the value of the position from the last stepper set_tag_position() call. This enables the calc_tag_position() code to be more flexible as it can be run with arbitrary positions. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper_enable: Move motor_off() logic to stepper_enable.pyKevin O'Connor2019-11-121-3/+3
| | | | | | | | Directly disable all the stepper motors on a global motor_off() from the StepperEnable() class in stepper_enable.py. This simplifies the toolhead and kinematic classes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* toolhead: Rename register_move_handler() to register_step_generator()Kevin O'Connor2019-11-071-1/+1
| | | | | | | Rename the function so it is more clear what the step generation code path is. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* toolhead: Remove kinematic move() callKevin O'Connor2019-11-061-2/+0
| | | | | | | Now that all kinematics use the trapq system, there is no need to call into the kinematics on each g-code move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* polar: Convert step generation to use trapq systemKevin O'Connor2019-11-061-21/+4
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* polar: Implement bed angle wrapping adjustments in chelper codeKevin O'Connor2019-11-061-8/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* kinematics: Add get_status() method to kinematicsFlorian Heilmann2019-08-091-0/+3
| | | | Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
* homing: Remove no longer needed homing time delay codeKevin O'Connor2019-07-101-4/+1
| | | | | | | | Now that homing is implemented via "drip moves", it is no longer necessary to round the homing speed and it is no longer necessary to add a delay for cpu processing time. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* polar: Add initial support for multiple bed rotationsKevin O'Connor2019-06-281-2/+9
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* polar: Experimental support for polar kinematicsKevin O'Connor2018-12-241-0/+131
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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