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force_move: Note force_enable() and restore_enable() are internal functions 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-07-19 12:34:23 -04:00
parent be122411b5
commit d1b41ea4a1
1 changed files with 5 additions and 5 deletions
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10
klippy/extras/force_move.py
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@ -56,7 +56,7 @@ class ForceMove:
if name not in self.steppers: if name not in self.steppers:
raise self.printer.config_error("Unknown stepper %s" % (name,)) raise self.printer.config_error("Unknown stepper %s" % (name,))
return self.steppers[name] return self.steppers[name]
def force_enable(self, stepper): def _force_enable(self, stepper):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time() print_time = toolhead.get_last_move_time()
stepper_enable = self.printer.lookup_object('stepper_enable') stepper_enable = self.printer.lookup_object('stepper_enable')
@ -66,7 +66,7 @@ class ForceMove:
enable.motor_enable(print_time) enable.motor_enable(print_time)
toolhead.dwell(STALL_TIME) toolhead.dwell(STALL_TIME)
return was_enable return was_enable
def restore_enable(self, stepper, was_enable): def _restore_enable(self, stepper, was_enable):
if not was_enable: if not was_enable:
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
toolhead.dwell(STALL_TIME) toolhead.dwell(STALL_TIME)
@ -101,7 +101,7 @@ class ForceMove:
def cmd_STEPPER_BUZZ(self, gcmd): def cmd_STEPPER_BUZZ(self, gcmd):
stepper = self._lookup_stepper(gcmd) stepper = self._lookup_stepper(gcmd)
logging.info("Stepper buzz %s", stepper.get_name()) logging.info("Stepper buzz %s", stepper.get_name())
was_enable = self.force_enable(stepper) was_enable = self._force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY
if stepper.units_in_radians(): if stepper.units_in_radians():
@ -111,7 +111,7 @@ class ForceMove:
toolhead.dwell(.050) toolhead.dwell(.050)
self.manual_move(stepper, -dist, speed) self.manual_move(stepper, -dist, speed)
toolhead.dwell(.450) toolhead.dwell(.450)
self.restore_enable(stepper, was_enable) self._restore_enable(stepper, was_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics" cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, gcmd): def cmd_FORCE_MOVE(self, gcmd):
stepper = self._lookup_stepper(gcmd) stepper = self._lookup_stepper(gcmd)
@ -120,7 +120,7 @@ class ForceMove:
accel = gcmd.get_float('ACCEL', 0., minval=0.) accel = gcmd.get_float('ACCEL', 0., minval=0.)
logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f", logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
stepper.get_name(), distance, speed, accel) stepper.get_name(), distance, speed, accel)
self.force_enable(stepper) self._force_enable(stepper)
self.manual_move(stepper, distance, speed, accel) self.manual_move(stepper, distance, speed, accel)
cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position" cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
def cmd_SET_KINEMATIC_POSITION(self, gcmd): def cmd_SET_KINEMATIC_POSITION(self, gcmd):