kinematics: Convert get_rails() method to get_steppers()

All callers of get_rails() actually just want the steppers, so return
them directly.

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

klippy/extras/probe.py

@@ -44,8 +44,7 @@ class PrinterProbe:
             'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help)
     def build_config(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        for rail in kin.get_rails("Z"):
+        for stepper in kin.get_steppers('Z'):
-            for stepper in rail.get_steppers():
             stepper.add_to_endstop(self.mcu_probe)
     def setup_pin(self, pin_params):
         if (pin_params['pin'] != 'z_virtual_endstop'

klippy/extras/z_tilt.py

@@ -18,6 +18,8 @@ class ZTilt:
         except:
             raise config.error("Unable to parse z_positions in %s" % (
                 config.get_name()))
+        if len(z_positions) < 2:
+            raise config.error("z_tilt requires at least two z_positions")
         self.probe_helper = probe.ProbePointsHelper(config, self)
         self.z_steppers = []
         # Register Z_TILT_ADJUST command
@@ -30,12 +32,7 @@ class ZTilt:
             self.handle_connect()
     def handle_connect(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        try:
+        z_steppers = kin.get_steppers('Z')
-            z_steppers = kin.get_rails('Z')[0].get_steppers()
-        except:
-            logging.exception("z_tilt stepper lookup")
-            raise self.printer.config_error(
-                "z_tilt requires multiple Z steppers")
         if len(z_steppers) != len(self.z_positions):
             raise self.printer.config_error(
                 "z_tilt z_positions needs exactly %d items" % (len(z_steppers),))

klippy/gcode.py

@@ -602,10 +602,7 @@ class GCodeParser:
             self.cmd_default(params)
             return
         kin = self.toolhead.get_kinematics()
-        steppers = []
+        steppers = kin.get_steppers()
-        rails = kin.get_rails()
-        for rail in rails:
-            steppers += rail.get_steppers()
         mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
                             for s in steppers])
         stepper_pos = " ".join(

klippy/kinematics/cartesian.py

@@ -43,10 +43,10 @@ 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_rails(self, flags=""):
+    def get_steppers(self, flags=""):
         if flags == "Z":
-            return [self.rails[2]]
+            return self.rails[2].get_steppers()
-        return list(self.rails)
+        return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_position(self):
         return [rail.get_commanded_position() for rail in self.rails]
     def set_position(self, newpos, homing_axes):

klippy/kinematics/corexy.py

@@ -32,10 +32,10 @@ class CoreXYKinematics:
         self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel)
         self.rails[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
-    def get_rails(self, flags=""):
+    def get_steppers(self, flags=""):
         if flags == "Z":
-            return [self.rails[2]]
+            return self.rails[2].get_steppers()
-        return list(self.rails)
+        return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_position(self):
         pos = [rail.get_commanded_position() for rail in self.rails]
         return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]

klippy/kinematics/delta.py

@@ -80,8 +80,8 @@ 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_rails(self, flags=""):
+    def get_steppers(self, flags=""):
-        return list(self.rails)
+        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)]
         return mathutil.trilateration(sphere_coords, self.arm2)