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endstop: Support halting more than one stepper on trigger

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Extend the endstop code so that more than one stepper can be halted
during endstop homing.  Some kinematic setups (eg, corexy) require an
endstop to support this.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-03-05 15:30:04 -05:00
parent fff73c7735
commit 57f279677f
3 changed files with 54 additions and 19 deletions
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3
klippy/stepper.py
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@@ -47,7 +47,8 @@ class PrinterStepper:
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
self.mcu_endstop = mcu.create_endstop(endstop_pin)
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_endstop = config.getfloat('position_endstop')
self.position_max = config.getfloat('position_max', 0.)