From 8c2fa2e2d6ff6dda25d5505760ceba4076af9efc Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Tue, 7 Nov 2017 13:10:08 -0500 Subject: stepper: Support for multiple steppers controlling a single axis Allow multiple steppers to be defined for a single cartesian axis. This adds support for dual-z setups. Signed-off-by: Kevin O'Connor --- klippy/corexy.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) (limited to 'klippy/corexy.py') diff --git a/klippy/corexy.py b/klippy/corexy.py index 8b92d118..dd62cf1c 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -10,9 +10,13 @@ StepList = (0, 1, 2) class CoreXYKinematics: def __init__(self, toolhead, printer, config): - self.steppers = [stepper.PrinterHomingStepper( - printer, config.getsection('stepper_' + n)) - for n in ['x', 'y', 'z']] + self.steppers = [ + stepper.PrinterHomingStepper( + printer, config.getsection('stepper_x')), + stepper.PrinterHomingStepper( + printer, config.getsection('stepper_y')), + stepper.LookupMultiHomingStepper( + printer, config.getsection('stepper_z'))] self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper) self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper) max_velocity, max_accel = toolhead.get_max_velocity() -- cgit v1.2.3-70-g09d2