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stepper: Don't peak into PrinterStepper members

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Add additional wrapper functions so that no outside callers need to
peak into the member variables of PrinterStepper.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-21 18:15:23 -04:00
parent 9a97a348ae
commit b96542f0e5
7 changed files with 26 additions and 24 deletions
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7
klippy/delta.py
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@@ -90,7 +90,7 @@ class DeltaKinematics:
def _actuator_to_cartesian(self, pos):
return actuator_to_cartesian(self.towers, self.arm2, pos)
def get_position(self):
spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
spos = [s.get_commanded_position() for s in self.steppers]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
pos = self._cartesian_to_actuator(newpos)
@@ -172,9 +172,8 @@ class DeltaKinematics:
stepper.step_itersolve(self.cmove)
# Helper functions for DELTA_CALIBRATE script
def get_stable_position(self):
return [int((ep - s.mcu_stepper.get_commanded_position())
/ s.mcu_stepper.get_step_dist() + .5)
* s.mcu_stepper.get_step_dist()
return [int((ep - s.get_commanded_position()) / s.get_step_dist() + .5)
* s.get_step_dist()
for ep, s in zip(self.endstops, self.steppers)]
def get_calibrate_params(self):
return {