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stepper: Minor whitespace changes 

Wrap lines at 80 columns.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-26 10:11:56 -04:00
parent 273a98d39a
commit 334a839123
1 changed files with 19 additions and 17 deletions
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36
klippy/stepper.py
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@ -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,