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stepper: Check if the motor needs to be enabled in the kinematic classes

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Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-11-14 13:40:35 -05:00
parent 9ad8153d33
commit 5a1ec817d4
4 changed files with 55 additions and 29 deletions
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14
klippy/stepper.py
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@@ -64,18 +64,14 @@ class PrinterStepper:
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
def motor_enable(self, move_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
self.mcu_stepper.reset_step_clock(mcu_time)
if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable):
mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
self.mcu_enable.set_digital(mcu_time, enable)
self.need_motor_enable = True
def prep_move(self, move_time):
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
if self.need_motor_enable:
self.mcu_stepper.reset_step_clock(mcu_time)
self.motor_enable(move_time, 1)
self.need_motor_enable = False
return (mcu_time, self.mcu_stepper)
self.need_motor_enable = not enable
def enable_endstop_checking(self, move_time, step_time):
mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
self.mcu_endstop.home(mcu_time, step_time)
@@ -86,7 +82,7 @@ class PrinterStepper:
self.mcu_endstop.query_endstop()
return self.mcu_endstop
def get_homed_offset(self):
if not self.homing_stepper_phases:
if not self.homing_stepper_phases or self.need_motor_enable:
return 0
pos = self.mcu_endstop.get_last_position()
pos %= self.homing_stepper_phases