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stepper_enable: Move motor_off() logic to stepper_enable.py

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Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py.  This simplifies the
toolhead and kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-11-12 11:41:41 -05:00
parent f50e054bd0
commit bfb34e0701
13 changed files with 37 additions and 49 deletions
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9
klippy/kinematics/cartesian.py
View File

@@ -17,6 +17,8 @@ class CartKinematics:
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
self.printer.register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
@@ -84,12 +86,8 @@ class CartKinematics:
self._activate_carriage(altc)
else:
self._home_axis(homing_state, axis, self.rails[axis])
def motor_off(self, print_time):
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for rail in self.rails:
rail.motor_enable(print_time, 0)
for rail in self.dual_carriage_rails:
rail.motor_enable(print_time, 0)
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):
@@ -131,7 +129,6 @@ class CartKinematics:
toolhead.set_position(self.calc_position() + [extruder_pos])
if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
self.limits[dc_axis] = dc_rail.get_range()
self.need_motor_enable = True
cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
def cmd_SET_DUAL_CARRIAGE(self, params):
gcode = self.printer.lookup_object('gcode')

6
klippy/kinematics/corexy.py
View File

@@ -20,6 +20,8 @@ class CoreXYKinematics:
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
@@ -63,10 +65,8 @@ class CoreXYKinematics:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def motor_off(self, print_time):
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for rail in self.rails:
rail.motor_enable(print_time, 0)
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):

6
klippy/kinematics/delta.py
View File

@@ -23,6 +23,8 @@ class DeltaKinematics:
stepper_configs[2], need_position_minmax = False,
default_position_endstop=a_endstop)
self.rails = [rail_a, rail_b, rail_c]
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
@@ -105,10 +107,8 @@ class DeltaKinematics:
forcepos = list(self.home_position)
forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
homing_state.home_rails(self.rails, forcepos, self.home_position)
def motor_off(self, print_time):
def _motor_off(self, print_time):
self.limit_xy2 = -1.
for rail in self.rails:
rail.motor_enable(print_time, 0)
self.need_home = True
def check_move(self, move):
end_pos = move.end_pos

4
klippy/kinematics/extruder.py
View File

@@ -87,8 +87,6 @@ class PrinterExtruder:
return self.deactivate_gcode.render()
def stats(self, eventtime):
return self.heater.stats(eventtime)
def motor_off(self, print_time):
self.stepper.motor_enable(print_time, 0)
def check_move(self, move):
move.extrude_r = move.axes_r[3]
move.extrude_max_corner_v = 0.
@@ -231,8 +229,6 @@ class PrinterExtruder:
class DummyExtruder:
def set_active(self, print_time, is_active):
return 0.
def motor_off(self, move_time):
pass
def check_move(self, move):
raise homing.EndstopMoveError(
move.end_pos, "Extrude when no extruder present")

2
klippy/kinematics/none.py
View File

@@ -15,8 +15,6 @@ class NoneKinematics:
pass
def home(self, homing_state):
pass
def motor_off(self, print_time):
pass
def check_move(self, move):
pass
def get_status(self):

6
klippy/kinematics/polar.py
View File

@@ -21,6 +21,8 @@ class PolarKinematics:
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
@@ -82,11 +84,9 @@ class PolarKinematics:
self._home_axis(homing_state, 0, self.rails[0])
if home_z:
self._home_axis(homing_state, 2, self.rails[1])
def motor_off(self, print_time):
def _motor_off(self, print_time):
self.limit_z = [(1.0, -1.0)]
self.limit_xy2 = -1.
for s in self.steppers:
s.motor_enable(print_time, 0)
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2

3
klippy/kinematics/winch.py
View File

@@ -42,9 +42,6 @@ class WinchKinematics:
# XXX - homing not implemented
homing_state.set_axes([0, 1, 2])
homing_state.set_homed_position([0., 0., 0.])
def motor_off(self, print_time):
for s in self.steppers:
s.motor_enable(print_time, 0)
def check_move(self, move):
# XXX - boundary checks and speed limits not implemented
pass