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toolhead: Move kinematic modules to new kinematics/ directory

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Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory.  This is intended to make adding new
kinematics a little easier.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-12 22:15:45 -04:00
parent 7d897d84d7
commit 8faab46ed2
9 changed files with 37 additions and 17 deletions
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21
klippy/toolhead.py
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@ -3,8 +3,8 @@
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import mcu, homing, cartesian, corexy, delta, extruder
import math, logging, importlib
import mcu, homing, kinematics.extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@ -227,12 +227,16 @@ class ToolHead:
self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler, self.reactor.NOW)
# Create kinematics class
self.extruder = extruder.DummyExtruder()
self.extruder = kinematics.extruder.DummyExtruder()
self.move_queue.set_extruder(self.extruder)
kintypes = {'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(self, config)
kin_name = config.get('kinematics')
try:
mod = importlib.import_module('kinematics.' + kin_name)
self.kin = mod.load_kinematics(self, config)
except:
msg = "Error loading kinematics '%s'" % (kin_name,)
logging.exception(msg)
raise config.error(msg)
# SET_VELOCITY_LIMIT command
gcode = self.printer.lookup_object('gcode')
gcode.register_command('SET_VELOCITY_LIMIT', self.cmd_SET_VELOCITY_LIMIT,
@ -353,7 +357,7 @@ class ToolHead:
self.dwell(STALL_TIME)
last_move_time = self.get_last_move_time()
self.kin.motor_off(last_move_time)
for ext in extruder.get_printer_extruders(self.printer):
for ext in kinematics.extruder.get_printer_extruders(self.printer):
ext.motor_off(last_move_time)
self.dwell(STALL_TIME)
self.need_motor_off = False
@ -444,3 +448,4 @@ class ToolHead:
def add_printer_objects(config):
config.get_printer().add_object('toolhead', ToolHead(config))
kinematics.extruder.add_printer_objects(config)