kinematics: Remove support for identifying Z steppers

The caller can now determine which steppers are connected to cartesian
Z movement via the new stepper.is_active_axis() method.  It is
therefore no longer necessary for the kinematic code to identify these
steppers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/bltouch.py

@@ -62,7 +62,8 @@ class BLTouchEndstopWrapper:
                                     desc=self.cmd_BLTOUCH_DEBUG_help)
     def _build_config(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        for stepper in kin.get_steppers('Z'):
+        for stepper in kin.get_steppers():
+            if stepper.is_active_axis('z'):
                 self.add_stepper(stepper)
     def handle_connect(self):
         try:

klippy/extras/probe.py

@@ -241,7 +241,8 @@ class ProbeEndstopWrapper:
         self.TimeoutError = self.mcu_endstop.TimeoutError
     def _build_config(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        for stepper in kin.get_steppers('Z'):
+        for stepper in kin.get_steppers():
+            if stepper.is_active_axis('z'):
                 self.add_stepper(stepper)
     def home_prepare(self):
         toolhead = self.printer.lookup_object('toolhead')

klippy/extras/z_tilt.py

@@ -16,7 +16,7 @@ class ZAdjustHelper:
                                             self.handle_connect)
     def handle_connect(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        z_steppers = kin.get_steppers('Z')
+        z_steppers = [s for s in kin.get_steppers() if s.is_active_axis('z')]
         if len(z_steppers) != self.z_count:
             raise self.printer.config_error(
                 "%s z_positions needs exactly %d items" % (

klippy/kinematics/cartesian.py

@@ -49,9 +49,7 @@ class CartKinematics:
             self.printer.lookup_object('gcode').register_command(
                 'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
                 desc=self.cmd_SET_DUAL_CARRIAGE_help)
-    def get_steppers(self, flags=""):
-        if flags == "Z":
-            return self.rails[2].get_steppers()
+    def get_steppers(self):
         rails = self.rails
         if self.dual_carriage_axis is not None:
             dca = self.dual_carriage_axis

klippy/kinematics/corexy.py

@@ -39,9 +39,7 @@ class CoreXYKinematics:
         self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
         self.rails[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
-    def get_steppers(self, flags=""):
-        if flags == "Z":
-            return self.rails[2].get_steppers()
+    def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_tag_position(self):
         pos = [rail.get_tag_position() for rail in self.rails]

klippy/kinematics/delta.py

@@ -87,7 +87,7 @@ class DeltaKinematics:
                          math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
                          math.sqrt(self.very_slow_xy2)))
         self.set_position([0., 0., 0.], ())
-    def get_steppers(self, flags=""):
+    def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, spos):
         sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)]

klippy/kinematics/none.py

@@ -7,7 +7,7 @@
 class NoneKinematics:
     def __init__(self, toolhead, config):
         pass
-    def get_steppers(self, flags=""):
+    def get_steppers(self):
         return []
     def calc_tag_position(self):
         return [0, 0, 0]

klippy/kinematics/polar.py

@@ -37,9 +37,7 @@ class PolarKinematics:
         stepper_bed.set_max_jerk(max_halt_velocity, max_accel)
         rail_arm.set_max_jerk(max_halt_velocity, max_accel)
         rail_z.set_max_jerk(max_halt_velocity, max_accel)
-    def get_steppers(self, flags=""):
-        if flags == "Z":
-            return self.rails[1].get_steppers()
+    def get_steppers(self):
         return list(self.steppers)
     def calc_tag_position(self):
         bed_angle = self.steppers[0].get_tag_position()

klippy/kinematics/rotary_delta.py

@@ -77,7 +77,7 @@ class RotaryDeltaKinematics:
             "Delta max build height %.2fmm (radius tapered above %.2fmm)"
             % (self.max_z, self.limit_z))
         self.set_position([0., 0., 0.], ())
-    def get_steppers(self, flags=""):
+    def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_tag_position(self):
         spos = [rail.get_tag_position() for rail in self.rails]

klippy/kinematics/winch.py

@@ -29,7 +29,7 @@ class WinchKinematics:
             s.set_max_jerk(max_halt_velocity, max_accel)
         # Setup boundary checks
         self.set_position([0., 0., 0.], ())
-    def get_steppers(self, flags=""):
+    def get_steppers(self):
         return list(self.steppers)
     def calc_tag_position(self):
         # Use only first three steppers to calculate cartesian position