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stepper: Additional code comments 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-11-06 18:37:35 -05:00
parent aaeda540b6
commit d10380e73f
1 changed files with 9 additions and 5 deletions
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14
klippy/stepper.py
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@ -6,6 +6,7 @@
import math, logging import math, logging
import homing, pins import homing, pins
# Code storing the definitions for a stepper motor
class PrinterStepper: class PrinterStepper:
def __init__(self, printer, config): def __init__(self, printer, config):
self.name = config.section self.name = config.section
@ -48,19 +49,23 @@ class PrinterStepper:
self.mcu_enable.set_digital(print_time, enable) self.mcu_enable.set_digital(print_time, enable)
self.need_motor_enable = not enable self.need_motor_enable = not enable
# Support for stepper controlled linear axis with an endstop
class PrinterHomingStepper(PrinterStepper): class PrinterHomingStepper(PrinterStepper):
def __init__(self, printer, config): def __init__(self, printer, config):
PrinterStepper.__init__(self, printer, config) PrinterStepper.__init__(self, printer, config)
# Endstop and its position
self.mcu_endstop = pins.setup_pin( self.mcu_endstop = pins.setup_pin(
printer, 'endstop', config.get('endstop_pin')) printer, 'endstop', config.get('endstop_pin'))
self.mcu_endstop.add_stepper(self.mcu_stepper) self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_endstop = config.getfloat('position_endstop')
# Axis range
self.position_min = config.getfloat('position_min', 0.) self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat( self.position_max = config.getfloat(
'position_max', 0., above=self.position_min) 'position_max', 0., above=self.position_min)
self.position_endstop = config.getfloat('position_endstop') # Homing mechanics
self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.) self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
self.homing_retract_dist = config.getfloat(
'homing_retract_dist', 5., above=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: if self.homing_positive_dir is None:
axis_len = self.position_max - self.position_min axis_len = self.position_max - self.position_min
@ -72,8 +77,7 @@ class PrinterHomingStepper(PrinterStepper):
raise config.error( raise config.error(
"Unable to infer homing_positive_dir in section '%s'" % ( "Unable to infer homing_positive_dir in section '%s'" % (
config.section,)) config.section,))
self.homing_retract_dist = config.getfloat( # Endstop stepper phase position tracking
'homing_retract_dist', 5., above=0.)
self.homing_stepper_phases = config.getint( self.homing_stepper_phases = config.getint(
'homing_stepper_phases', None, minval=0) 'homing_stepper_phases', None, minval=0)
endstop_accuracy = config.getfloat( endstop_accuracy = config.getfloat(