From 334a8391234d5eb27eddea722f76cf4beeaa595d Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 26 Jul 2018 10:11:56 -0400 Subject: [PATCH] stepper: Minor whitespace changes Wrap lines at 80 columns. Signed-off-by: Kevin O'Connor --- klippy/stepper.py | 36 +++++++++++++++++++----------------- 1 file changed, 19 insertions(+), 17 deletions(-) diff --git a/klippy/stepper.py b/klippy/stepper.py index 073f33b6..2095ba16 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -51,26 +51,27 @@ class PrinterStepper: self.need_motor_enable = True # Stepper definition ppins = printer.lookup_object('pins') - self.mcu_stepper = ppins.setup_pin('stepper', config.get('step_pin')) + step_pin = config.get('step_pin') + self.mcu_stepper = mcu_stepper = ppins.setup_pin('stepper', step_pin) dir_pin = config.get('dir_pin') dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True) - self.mcu_stepper.setup_dir_pin(dir_pin_params) + mcu_stepper.setup_dir_pin(dir_pin_params) step_dist = config.getfloat('step_distance', above=0.) - self.mcu_stepper.setup_step_distance(step_dist) + mcu_stepper.setup_step_distance(step_dist) self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None)) # Register STEPPER_BUZZ command stepper_buzz = printer.try_load_module(config, 'stepper_buzz') stepper_buzz.register_stepper(self, config.get_name()) # Wrappers - self.step_itersolve = self.mcu_stepper.step_itersolve - self.setup_itersolve = self.mcu_stepper.setup_itersolve - self.set_stepper_kinematics = self.mcu_stepper.set_stepper_kinematics - self.set_ignore_move = self.mcu_stepper.set_ignore_move - self.calc_position_from_coord = self.mcu_stepper.calc_position_from_coord - self.set_position = self.mcu_stepper.set_position - 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 + self.step_itersolve = mcu_stepper.step_itersolve + self.setup_itersolve = mcu_stepper.setup_itersolve + self.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics + self.set_ignore_move = mcu_stepper.set_ignore_move + self.calc_position_from_coord = mcu_stepper.calc_position_from_coord + self.set_position = mcu_stepper.set_position + self.get_mcu_position = mcu_stepper.get_mcu_position + self.get_commanded_position = mcu_stepper.get_commanded_position + self.get_step_dist = mcu_stepper.get_step_dist def get_name(self, short=False): if short and self.name.startswith('stepper_'): return self.name[8:] @@ -144,7 +145,8 @@ class PrinterRail: self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.) self.homing_retract_dist = config.getfloat( 'homing_retract_dist', 5., minval=0.) - self.homing_positive_dir = config.getboolean('homing_positive_dir', None) + self.homing_positive_dir = config.getboolean( + 'homing_positive_dir', None) if self.homing_positive_dir is None: axis_len = self.position_max - self.position_min if self.position_endstop <= self.position_min + axis_len / 4.: @@ -171,11 +173,11 @@ class PrinterRail: # Adjust the endstop position so 0.0 is always at a full step micro_steps = self.homing_stepper_phases // 4 phase_offset = ( - ((self.homing_endstop_phase + micro_steps // 2) % micro_steps) - - micro_steps // 2) * step_dist + ((self.homing_endstop_phase + micro_steps // 2) + % micro_steps) - micro_steps // 2) * step_dist full_step = micro_steps * step_dist - es_pos = (int(self.position_endstop / full_step + .5) * full_step - + phase_offset) + es_pos = (int(self.position_endstop / full_step + .5) + * full_step + phase_offset) if es_pos != self.position_endstop: logging.info("Changing %s endstop position to %.3f" " (from %.3f)", self.name,