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stepper: Add a get_name() method to PrinterStepper 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-21 14:33:55 -04:00
parent d0590ccb0e
commit 544f8c1e85
3 changed files with 16 additions and 12 deletions
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2
klippy/extras/z_tilt.py
View File

@ -83,7 +83,7 @@ class ZTilt:
positions.append((stepper_offset, s))
# Report on movements
msg = "Making the following Z tilt adjustments:\n%s\nz_offset = %.6f" % (
"\n".join(["%s = %.6f" % (s.name, so) for so, s in positions]),
"\n".join(["%s = %.6f" % (s.get_name(), so) for so, s in positions]),
z_adjust - z_offset)
logging.info(msg)
self.gcode.respond_info(msg)

5
klippy/gcode.py
View File

@ -599,10 +599,11 @@ class GCodeParser:
return
kin = self.toolhead.get_kinematics()
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.name, s.mcu_stepper.get_mcu_position())
mcu_pos = " ".join(["%s:%d" % (s.get_name(),
s.mcu_stepper.get_mcu_position())
for s in steppers])
stepper_pos = " ".join(
["%s:%.6f" % (s.name, s.mcu_stepper.get_commanded_position())
["%s:%.6f" % (s.get_name(), s.mcu_stepper.get_commanded_position())
for s in steppers])
kinematic_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", kin.get_position())])

21
klippy/stepper.py
View File

@ -37,8 +37,6 @@ class PrinterStepper:
def __init__(self, config):
printer = config.get_printer()
self.name = config.get_name()
if self.name.startswith('stepper_'):
self.name = self.name[8:]
self.need_motor_enable = True
# Stepper definition
ppins = printer.lookup_object('pins')
@ -53,6 +51,10 @@ class PrinterStepper:
# Register STEPPER_BUZZ command
stepper_buzz = printer.try_load_module(config, 'stepper_buzz')
stepper_buzz.register_stepper(self, config.get_name())
def get_name(self, short=False):
if short and self.name.startswith('stepper_'):
return self.name[8:]
return self.name
def _dist_to_time(self, dist, start_velocity, accel):
# Calculate the time it takes to travel a distance with constant accel
time_offset = start_velocity / accel
@ -136,8 +138,8 @@ class PrinterHomingStepper(PrinterStepper):
+ phase_offset)
if es_pos != self.position_endstop:
logging.info("Changing %s endstop position to %.3f"
" (from %.3f)", self.name, es_pos,
self.position_endstop)
" (from %.3f)", self.get_name(short=True),
es_pos, self.position_endstop)
self.position_endstop = es_pos
if endstop_accuracy is None:
self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
@ -149,7 +151,7 @@ class PrinterHomingStepper(PrinterStepper):
endstop_accuracy / self.step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment", self.name)
" phase adjustment", self.get_name(short=True))
self.homing_stepper_phases = None
if self.mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
@ -158,14 +160,15 @@ class PrinterHomingStepper(PrinterStepper):
self.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
def get_endstops(self):
return [(self.mcu_endstop, self.name)]
return [(self.mcu_endstop, self.get_name(short=True))]
def get_homed_offset(self):
if not self.homing_stepper_phases or self.need_motor_enable:
return 0.
pos = self.mcu_stepper.get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d", self.name, pos)
logging.info("Setting %s endstop phase to %d",
self.get_name(short=True), pos)
self.homing_endstop_phase = pos
return 0.
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
@ -174,7 +177,7 @@ class PrinterHomingStepper(PrinterStepper):
elif delta > self.homing_endstop_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" % (
self.name, pos, self.homing_endstop_phase))
self.get_name(short=True), pos, self.homing_endstop_phase))
return delta * self.step_dist
# Wrapper for dual stepper motor support
@ -196,7 +199,7 @@ class PrinterMultiStepper(PrinterHomingStepper):
ppins = config.get_printer().lookup_object('pins')
mcu_endstop = ppins.setup_pin('endstop', extraendstop)
mcu_endstop.add_stepper(extra.mcu_stepper)
self.endstops.append((mcu_endstop, extra.name))
self.endstops.append((mcu_endstop, extra.get_name(short=True)))
else:
self.mcu_endstop.add_stepper(extra.mcu_stepper)
self.step_itersolve = self.step_multi_itersolve