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* stepper: Remove add_to_endstop() methodKevin O'Connor2019-11-121-7/+2
| | | | | | | Now that the PrinterStepper and MCU_stepper classes have been merged, there is no need for the add_to_endstop() method. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Merge PrinterStepper and MCU_stepper classesKevin O'Connor2019-11-121-69/+48
| | | | | | | There's no need to track the two classes separately - just combine them. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Move MCU_stepper from mcu.py to stepper.pyKevin O'Connor2019-11-121-2/+139
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Simplify PrinterRail initKevin O'Connor2019-11-121-23/+18
| | | | | | Use add_extra_stepper() during class init. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper_enable: Move enable tracking from stepper.py to stepper_enable.pyKevin O'Connor2019-11-121-68/+7
| | | | | | | Move the enable line tracking out of the main stepper.py code. This simplifies the main kinematic code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper_enable: Move motor_off() logic to stepper_enable.pyKevin O'Connor2019-11-121-0/+1
| | | | | | | | 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>
* stepper_enable: Add new extras module for stepper enable line trackingKevin O'Connor2019-11-101-0/+2
| | | | | | | Move the M18/M84 command handling from gcode.py to new stepper_enable module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* itersolve: Remove unused gen_steps()Kevin O'Connor2019-11-061-6/+0
| | | | | | | Eliminate the old gen_steps() call now that all callers have been converted to the newer trapq based generate_steps(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Remove set_ignore_move()Kevin O'Connor2019-11-061-1/+0
| | | | | | | Update callers of set_ignore_move() to use the trapq system to set a stepper to ignore moves. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* itersolve: Add support for generating steps from a trapqKevin O'Connor2019-11-061-0/+14
| | | | | | | Support associating a stepper_kinematics with a trapq. Support generating steps from a time range on the given trapq. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add support for providing a list of pins to enableKevin O'Connor2019-06-281-11/+23
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* endstop_phase: Fix endstop_phase on trinamic drivers that aren't invertedKevin O'Connor2019-06-211-0/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* endstop_phase: Move endstop phase homing code to new "extras" moduleKevin O'Connor2018-10-161-57/+0
| | | | | | | Move the endstop phase tracking code from stepper.py to a new extras/endstop_phase.py module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Add a set_commanded_position() method to MCU_stepperKevin O'Connor2018-10-101-3/+7
| | | | | | Add the ability to directly set the "commanded" stepper position. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Wrap lines to 80 columnsKevin O'Connor2018-10-091-3/+6
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Adding support for a second_homing_speed parameter (#677)Chris Whiteford2018-10-041-2/+3
| | | Signed-off-by: Chris Whiteford <chris@chrisandtennille.com>
* probe: Infer position_endstop when using probe:z_virtual_offsetKevin O'Connor2018-10-011-1/+3
| | | | | | | | | Don't require (or permit) the user to specify a stepper_z position_endstop when using the probe:z_virtual_offset mechanism. In that case the position_endstop should always equal the probe's z_offset - so no need to have the user specify it. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* force_move: Rename stepper_buzz.py to force_move.pyKevin O'Connor2018-07-261-2/+2
| | | | | | This is in preparation for extending the ability to make manual moves. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Minor whitespace changesKevin O'Connor2018-07-261-17/+19
| | | | | | Wrap lines at 80 columns. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pins: Explicitly pass can_invert and can_pullup to lookup_pin()Kevin O'Connor2018-07-261-3/+5
| | | | | | | | | | | | Don't pass pin_type to lookup_pin() - instead, if a pin can be inverted or can have a pullup, then the caller must explicitly specify that when calling lookup_pin(). This simplifies the code for the cases where it is not valid to invert or pullup. Explicitly pass the pin_type to setup_pin() and have ppins.setup_pin() apply default pullup and invert flags. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* itersolve: Support calculating a stepper position from a cartesian coordinateKevin O'Connor2018-07-181-0/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* query_endstops: Move QUERY_ENDSTOP command to it own extras/ moduleKevin O'Connor2018-07-161-3/+10
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Enhance itersolve stepper kinematics allocationKevin O'Connor2018-07-131-6/+4
| | | | | | | Allocate the stepper_kinematics directly in mcu.py - that way the kinematic classes don't have to interact with the chelper code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* itersolve: Support setting the stepper position via a cartesian coordinateKevin O'Connor2018-06-221-2/+2
| | | | | | | | | Add support for an itersolve_set_position() function that sets a stepper position from a cartesian coordinate. This eliminates the need for both the python and C code to be able to translate from a cartesian coordinate to a stepper position. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Replace PrinterHomingStepper with PrinterRailKevin O'Connor2018-06-221-75/+83
| | | | | | | | Update the code to use the term "rail" when dealing with a motor controlled "axis". A rail has a series of steppers and endstops that control that motor controlled "axis". Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add a get_homing_info() method to PrinterHomingStepperKevin O'Connor2018-06-221-1/+7
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add a get_range() method to PrinterHomingStepperKevin O'Connor2018-06-221-0/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Don't peak into PrinterStepper membersKevin O'Connor2018-06-221-4/+8
| | | | | | | Add additional wrapper functions so that no outside callers need to peak into the member variables of PrinterStepper. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add a is_stepper_enabled() method to PrinterStepperKevin O'Connor2018-06-221-0/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Don't store step_dist in PrinterStepperKevin O'Connor2018-06-221-11/+15
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add a get_name() method to PrinterStepperKevin O'Connor2018-06-221-9/+12
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: No need to pass printer reference to kinematic/stepper constructorsKevin O'Connor2018-06-221-12/+12
| | | | | | The config reference already stores a reference to the printer object. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* kin_cartesian: Remove stepcompress_push_const()Kevin O'Connor2018-06-201-8/+0
| | | | | | | All the kinematic code now uses the iterative solver to generate steps. Remove the old stepcompress_push_const() mechanism. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* corexy: Convert corexy to use the iterative solverKevin O'Connor2018-06-201-1/+18
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* delta: Convert delta kinematics to use iterative solverKevin O'Connor2018-06-201-1/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper_buzz: Move STEPPER_BUZZ command from stepper.py to new fileKevin O'Connor2018-06-201-28/+2
| | | | | | | Add a klippy/extras/stepper_buzz.py file to handle the STEPPER_BUZZ command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add STEPPER_BUZZ commandKevin O'Connor2018-05-241-0/+30
| | | | | | Add a new command that can help diagnose stepper motor connectivity. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Raise an error if position_endstop is not in min/max rangeKevin O'Connor2018-05-181-6/+16
| | | | | | | | Raise an error during config parsing if the position_endstop is not between the position_min and position_max. This avoids a confusing error message during homing. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Fix typo in error report - name should be self.nameKevin O'Connor2018-05-141-1/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pins: Remove module level get_printer_pins() and setup_pin() functionsKevin O'Connor2018-04-041-12/+11
| | | | | | | | Most callers did a lookup of the pins module via printer.lookup_object("pins"). Use that as the standard method and remove these less frequently used methods. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: allow to disable homing retractcruwaller2018-03-061-1/+1
| | | | | | Homing retract can be disabled by setting homing_retract_dist to 0. Signed-off-by: Petri Honkala <cruwaller@gmail.com>
* docs: Add tips for porting to new kinematics to Code_Overview.mdKevin O'Connor2018-02-171-0/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Add access methods and avoid peeking into the printer classesKevin O'Connor2018-01-281-5/+5
| | | | | | | | | Add get_reactor(), lookup_object(), lookup_module_objects(), and set_rollover_info() to the main Printer class so that callers do not need to peek into the class' members. Similarly, add get_printer() and get_name() methods to the ConfigWrapper class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Automatically detect and handle shared stepper enable linesKevin O'Connor2018-01-101-10/+31
| | | | | | | | | | | It's common for multiple steppers to use the same stepper enable line. Detect this and only create a single digital_out oid on the micro-controller. Also, prohibit any other pin from being used multiple times in the config file. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* pins: Rename parse_pin_desc() to lookup_pin()Kevin O'Connor2018-01-101-2/+2
| | | | | | | Always set the pin_params['type'] field on a pin lookup. Rename parse_pin_desc() to lookup_pin() to make the change more clear. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Handle speed rounding when homing speed greater than max_velocityKevin O'Connor2017-12-201-7/+0
| | | | | | | | | | Commit 002dc0df added rounding to the homing speed, but it did not work if the configured homing speed was less than the printer's maximum velocity. Move the speed rounding from stepper.py to homing.py and make sure the rounded speed is less than the maximum speed. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* delta: Default stepper_b/c position_endstop to stepper_a'sKevin O'Connor2017-12-081-2/+6
| | | | | | | If the position_endstop is not set for stepper_b or stepper_c then use the value from stepper_a. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Only align the stepper motor to a full step when requestedKevin O'Connor2017-12-071-1/+2
| | | | | | | | | Add a new config option 'homing_endstop_align_zero' to enable the alignment of the endstop to a stepper full step. It's possible one may wish to specify a homing_endstop_phase while not aligning the endstop. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Remove unneeded MCU_digital_out.get_last_setting() methodKevin O'Connor2017-12-061-1/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Reset the stepper step clock on init - not after each motor onKevin O'Connor2017-12-061-2/+0
| | | | | | | Reset the last step clock during the init phase and after each home - this simplifies the runtime code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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