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manual_stepper: Use new GCodeCommand wrappers 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-25 00:29:15 -04:00
parent 821df4e994
commit 1fd76b7393
1 changed files with 20 additions and 18 deletions
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34
klippy/extras/manual_stepper.py
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@ -33,8 +33,8 @@ class ManualStepper:
self.rail.set_max_jerk(9999999.9, 9999999.9) self.rail.set_max_jerk(9999999.9, 9999999.9)
# Register commands # Register commands
stepper_name = config.get_name().split()[1] stepper_name = config.get_name().split()[1]
self.gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER", gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
stepper_name, self.cmd_MANUAL_STEPPER, stepper_name, self.cmd_MANUAL_STEPPER,
desc=self.cmd_MANUAL_STEPPER_help) desc=self.cmd_MANUAL_STEPPER_help)
def sync_print_time(self): def sync_print_time(self):
@ -77,7 +77,8 @@ class ManualStepper:
self.sync_print_time() self.sync_print_time()
def do_homing_move(self, movepos, speed, accel, triggered, check_trigger): def do_homing_move(self, movepos, speed, accel, triggered, check_trigger):
if not self.can_home: if not self.can_home:
raise self.gcode.error("No endstop for this manual stepper") raise self.printer.command_error(
"No endstop for this manual stepper")
# Notify start of homing/probing move # Notify start of homing/probing move
endstops = self.rail.get_endstops() endstops = self.rail.get_endstops()
self.printer.send_event("homing:homing_move_begin", self.printer.send_event("homing:homing_move_begin",
@ -110,24 +111,25 @@ class ManualStepper:
if error is not None: if error is not None:
raise homing.CommandError(error) raise homing.CommandError(error)
cmd_MANUAL_STEPPER_help = "Command a manually configured stepper" cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
def cmd_MANUAL_STEPPER(self, params): def cmd_MANUAL_STEPPER(self, gcmd):
if 'ENABLE' in params: enable = gcmd.get_int('ENABLE', None)
self.do_enable(self.gcode.get_int('ENABLE', params)) if enable is not None:
if 'SET_POSITION' in params: self.do_enable(enable)
setpos = self.gcode.get_float('SET_POSITION', params) setpos = gcmd.get_float('SET_POSITION', None)
if setpos is not None:
self.do_set_position(setpos) self.do_set_position(setpos)
sync = self.gcode.get_int('SYNC', params, 1) speed = gcmd.get_float('SPEED', self.velocity, above=0.)
homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0) accel = gcmd.get_float('ACCEL', self.accel, minval=0.)
speed = self.gcode.get_float('SPEED', params, self.velocity, above=0.) homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0)
accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.)
if homing_move: if homing_move:
movepos = self.gcode.get_float('MOVE', params) movepos = gcmd.get_float('MOVE')
self.do_homing_move(movepos, speed, accel, self.do_homing_move(movepos, speed, accel,
homing_move > 0, abs(homing_move) == 1) homing_move > 0, abs(homing_move) == 1)
elif 'MOVE' in params: elif gcmd.get_float('MOVE', None) is not None:
movepos = self.gcode.get_float('MOVE', params) movepos = gcmd.get_float('MOVE')
sync = gcmd.get_int('SYNC', 1)
self.do_move(movepos, speed, accel, sync) self.do_move(movepos, speed, accel, sync)
elif 'SYNC' in params and sync: elif gcmd.get_int('SYNC', 0):
self.sync_print_time() self.sync_print_time()
def load_config_prefix(config): def load_config_prefix(config):