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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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38
klippy/extras/manual_stepper.py
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@ -33,10 +33,10 @@ class ManualStepper:
self.rail.set_max_jerk(9999999.9, 9999999.9)
# Register commands
stepper_name = config.get_name().split()[1]
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
stepper_name, self.cmd_MANUAL_STEPPER,
desc=self.cmd_MANUAL_STEPPER_help)
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
stepper_name, self.cmd_MANUAL_STEPPER,
desc=self.cmd_MANUAL_STEPPER_help)
def sync_print_time(self):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
@ -77,7 +77,8 @@ class ManualStepper:
self.sync_print_time()
def do_homing_move(self, movepos, speed, accel, triggered, check_trigger):
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
endstops = self.rail.get_endstops()
self.printer.send_event("homing:homing_move_begin",
@ -110,24 +111,25 @@ class ManualStepper:
if error is not None:
raise homing.CommandError(error)
cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
def cmd_MANUAL_STEPPER(self, params):
if 'ENABLE' in params:
self.do_enable(self.gcode.get_int('ENABLE', params))
if 'SET_POSITION' in params:
setpos = self.gcode.get_float('SET_POSITION', params)
def cmd_MANUAL_STEPPER(self, gcmd):
enable = gcmd.get_int('ENABLE', None)
if enable is not None:
self.do_enable(enable)
setpos = gcmd.get_float('SET_POSITION', None)
if setpos is not None:
self.do_set_position(setpos)
sync = self.gcode.get_int('SYNC', params, 1)
homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0)
speed = self.gcode.get_float('SPEED', params, self.velocity, above=0.)
accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.)
speed = gcmd.get_float('SPEED', self.velocity, above=0.)
accel = gcmd.get_float('ACCEL', self.accel, minval=0.)
homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0)
if homing_move:
movepos = self.gcode.get_float('MOVE', params)
movepos = gcmd.get_float('MOVE')
self.do_homing_move(movepos, speed, accel,
homing_move > 0, abs(homing_move) == 1)
elif 'MOVE' in params:
movepos = self.gcode.get_float('MOVE', params)
elif gcmd.get_float('MOVE', None) is not None:
movepos = gcmd.get_float('MOVE')
sync = gcmd.get_int('SYNC', 1)
self.do_move(movepos, speed, accel, sync)
elif 'SYNC' in params and sync:
elif gcmd.get_int('SYNC', 0):
self.sync_print_time()
def load_config_prefix(config):