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stepper_enable: Move motor_off() logic to stepper_enable.py

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Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py.  This simplifies the
toolhead and kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-11-12 11:41:41 -05:00
parent f50e054bd0
commit bfb34e0701
13 changed files with 37 additions and 49 deletions
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14
klippy/toolhead.py
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@@ -182,7 +182,6 @@ class MoveQueue:
# Enough moves have been queued to reach the target flush time.
self.flush(lazy=True)
STALL_TIME = 0.100
MOVE_BATCH_TIME = 0.500
DRIP_SEGMENT_TIME = 0.050
@@ -203,8 +202,6 @@ class ToolHead:
self.can_pause = False
self.move_queue = MoveQueue(self)
self.commanded_pos = [0., 0., 0., 0.]
self.printer.register_event_handler("gcode:request_restart",
self._handle_request_restart)
self.printer.register_event_handler("klippy:shutdown",
self._handle_shutdown)
# Velocity and acceleration control
@@ -405,15 +402,6 @@ class ToolHead:
next_print_time = self.get_last_move_time() + max(0., delay)
self._update_move_time(next_print_time)
self._check_stall()
def motor_off(self):
self.dwell(STALL_TIME)
last_move_time = self.get_last_move_time()
self.kin.motor_off(last_move_time)
for ext in kinematics.extruder.get_printer_extruders(self.printer):
ext.motor_off(last_move_time)
self.printer.send_event("toolhead:motor_off", last_move_time)
self.dwell(STALL_TIME)
logging.debug('; Max time of %f', last_move_time)
def wait_moves(self):
self._flush_lookahead()
eventtime = self.reactor.monotonic()
@@ -493,8 +481,6 @@ class ToolHead:
'estimated_print_time': estimated_print_time,
'position': homing.Coord(*self.commanded_pos),
'printing_time': print_time - last_print_start_time }
def _handle_request_restart(self, print_time):
self.motor_off()
def _handle_shutdown(self):
self.can_pause = False
self.move_queue.reset()