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stepper: Add get_endstops() / set_position wrappers

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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
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4
klippy/stepper.py
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@ -41,6 +41,8 @@ class PrinterStepper:
2. * self.step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
def set_position(self, pos):
self.mcu_stepper.set_position(pos)
def motor_enable(self, print_time, enable=0):
if enable and self.need_motor_enable:
self.mcu_stepper.reset_step_clock(print_time)
@ -115,6 +117,8 @@ class PrinterHomingStepper(PrinterStepper):
self.homing_stepper_phases = None
if self.mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
def get_endstops(self):
return [(self.mcu_endstop, self.mcu_stepper, self.name)]
def get_homing_speed(self):
# Round the configured homing speed so that it is an even
# number of ticks per step.