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stepper: Simplify helper module registration of stepper motors 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-07-19 13:22:40 -04:00
parent c632b377ca
commit f0dbeb0493
3 changed files with 10 additions and 13 deletions
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5
klippy/extras/force_move.py
View File

@ -49,9 +49,8 @@ class ForceMove:
gcode.register_command('SET_KINEMATIC_POSITION',
self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help)
def register_stepper(self, stepper):
name = stepper.get_name()
self.steppers[name] = stepper
def register_stepper(self, config, mcu_stepper):
self.steppers[mcu_stepper.get_name()] = mcu_stepper
def lookup_stepper(self, name):
if name not in self.steppers:
raise self.printer.config_error("Unknown stepper %s" % (name,))

8
klippy/extras/stepper_enable.py
View File

@ -84,10 +84,10 @@ class PrinterStepperEnable:
gcode.register_command("SET_STEPPER_ENABLE",
self.cmd_SET_STEPPER_ENABLE,
desc=self.cmd_SET_STEPPER_ENABLE_help)
def register_stepper(self, stepper, pin):
name = stepper.get_name()
enable = setup_enable_pin(self.printer, pin)
self.enable_lines[name] = EnableTracking(stepper, enable)
def register_stepper(self, config, mcu_stepper):
name = mcu_stepper.get_name()
enable = setup_enable_pin(self.printer, config.get('enable_pin', None))
self.enable_lines[name] = EnableTracking(mcu_stepper, enable)
def motor_off(self):
toolhead = self.printer.lookup_object('toolhead')
toolhead.dwell(DISABLE_STALL_TIME)

10
klippy/stepper.py
View File

@ -197,12 +197,10 @@ def PrinterStepper(config, units_in_radians=False):
step_dist = parse_step_distance(config, units_in_radians, True)
mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist,
units_in_radians)
# Support for stepper enable pin handling
stepper_enable = printer.load_object(config, 'stepper_enable')
stepper_enable.register_stepper(mcu_stepper, config.get('enable_pin', None))
# Register STEPPER_BUZZ command
force_move = printer.load_object(config, 'force_move')
force_move.register_stepper(mcu_stepper)
# Register with helper modules
for mname in ['stepper_enable', 'force_move']:
m = printer.load_object(config, mname)
m.register_stepper(config, mcu_stepper)
return mcu_stepper
# Parse stepper gear_ratio config parameter