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stepper: Don't peak into PrinterStepper members

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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>
This commit is contained in:
Kevin O'Connor 2018-06-21 18:15:23 -04:00
parent 9a97a348ae
commit b96542f0e5
7 changed files with 26 additions and 24 deletions
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6
klippy/corexy.py
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@ -14,8 +14,8 @@ class CoreXYKinematics:
stepper.PrinterHomingStepper(config.getsection('stepper_x')),
stepper.PrinterHomingStepper(config.getsection('stepper_y')),
stepper.LookupMultiHomingStepper(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)
self.steppers[0].add_to_endstop(self.steppers[1].get_endstops()[0][0])
self.steppers[1].add_to_endstop(self.steppers[0].get_endstops()[0][0])
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
@ -44,7 +44,7 @@ class CoreXYKinematics:
return [self.steppers[2]]
return list(self.steppers)
def get_position(self):
pos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
pos = [s.get_commanded_position() for s in self.steppers]
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
def set_position(self, newpos, homing_axes):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])