3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-18 04:08:04 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 3

stepper: Add get_endstops() / set_position wrappers

Browse source 
Add wrappers around mcu_endstop and mcu_stepper so that the kinematic
classes do not need to directly access these low-level classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-11-07 12:29:51 -05:00
parent eecf3b6ea8
commit 38643f52c9
6 changed files with 33 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

42
klippy/homing.py
View file

@ -38,41 +38,47 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
endstops = []
for s in steppers:
s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, s.step_dist / speed)
endstops.append((s, s.mcu_stepper.get_mcu_position()))
for mcu_endstop, mcu_stepper, name in s.get_endstops():
mcu_endstop.home_start(
print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
mcu_stepper.get_step_dist() / speed)
endstops.append((mcu_endstop, mcu_stepper, name,
mcu_stepper.get_mcu_position()))
self.toolhead.move(self._fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time(print_time)
for s, last_pos in endstops:
s.mcu_endstop.home_finalize(move_end_print_time)
for mcu_endstop, mcu_stepper, name, last_pos in endstops:
mcu_endstop.home_finalize(move_end_print_time)
# Wait for endstops to trigger
for s, last_pos in endstops:
for mcu_endstop, mcu_stepper, name, last_pos in endstops:
try:
s.mcu_endstop.home_wait()
except s.mcu_endstop.error as e:
mcu_endstop.home_wait()
except mcu_endstop.error as e:
raise EndstopError("Failed to home stepper %s: %s" % (
s.name, str(e)))
post_home_pos = s.mcu_stepper.get_mcu_position()
name, str(e)))
post_home_pos = mcu_stepper.get_mcu_position()
if second_home and self.verify_retract and last_pos == post_home_pos:
raise EndstopError("Endstop %s still triggered after retract" % (
s.name,))
name,))
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
def query_endstops(print_time, query_flags, steppers):
if query_flags == "get_mcu_position":
# Only the commanded position is requested
return [(s.name.upper(), s.mcu_stepper.get_mcu_position())
for s in steppers]
return [(name.upper(), mcu_stepper.get_mcu_position())
for s in steppers
for mcu_endstop, mcu_stepper, name in s.get_endstops()]
for s in steppers:
s.mcu_endstop.query_endstop(print_time)
for mcu_endstop, mcu_stepper, name in s.get_endstops():
mcu_endstop.query_endstop(print_time)
out = []
for s in steppers:
try:
out.append((s.name, s.mcu_endstop.query_endstop_wait()))
except s.mcu_endstop.error as e:
raise EndstopError(str(e))
for mcu_endstop, mcu_stepper, name in s.get_endstops():
try:
out.append((name, mcu_endstop.query_endstop_wait()))
except mcu_endstop.error as e:
raise EndstopError(str(e))
return out
class EndstopError(Exception):