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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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12
klippy/stepper.py
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@ -52,11 +52,16 @@ class PrinterStepper:
# Wrappers
self.step_itersolve = self.mcu_stepper.step_itersolve
self.setup_itersolve = self.mcu_stepper.setup_itersolve
self.set_ignore_move = self.mcu_stepper.set_ignore_move
self.get_mcu_position = self.mcu_stepper.get_mcu_position
self.get_commanded_position = self.mcu_stepper.get_commanded_position
self.get_step_dist = self.mcu_stepper.get_step_dist
def get_name(self, short=False):
if short and self.name.startswith('stepper_'):
return self.name[8:]
return self.name
def add_to_endstop(self, mcu_endstop):
mcu_endstop.add_stepper(self.mcu_stepper)
def _dist_to_time(self, dist, start_velocity, accel):
# Calculate the time it takes to travel a distance with constant accel
time_offset = start_velocity / accel
@ -87,7 +92,7 @@ class PrinterHomingStepper(PrinterStepper):
# Endstop and its position
ppins = config.get_printer().lookup_object('pins')
self.mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.add_to_endstop(self.mcu_endstop)
if default_position_endstop is None:
self.position_endstop = config.getfloat('position_endstop')
else:
@ -200,14 +205,13 @@ class PrinterMultiStepper(PrinterHomingStepper):
extra = PrinterStepper(extraconfig)
self.extras.append(extra)
self.all_step_itersolve.append(extra.step_itersolve)
mcu_endstop = self.mcu_endstop
extraendstop = extraconfig.get('endstop_pin', None)
if extraendstop is not None:
ppins = config.get_printer().lookup_object('pins')
mcu_endstop = ppins.setup_pin('endstop', extraendstop)
mcu_endstop.add_stepper(extra.mcu_stepper)
self.endstops.append((mcu_endstop, extra.get_name(short=True)))
else:
self.mcu_endstop.add_stepper(extra.mcu_stepper)
extra.add_to_endstop(mcu_endstop)
self.step_itersolve = self.step_multi_itersolve
def step_multi_itersolve(self, cmove):
for step_itersolve in self.all_step_itersolve: