kinematics: Convert get_rails() method to get_steppers()

All callers of get_rails() actually just want the steppers, so return
them directly.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/kinematics/cartesian.py

@@ -43,10 +43,10 @@ class CartKinematics:
             self.printer.lookup_object('gcode').register_command(
                 'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
                 desc=self.cmd_SET_DUAL_CARRIAGE_help)
-    def get_rails(self, flags=""):
+    def get_steppers(self, flags=""):
         if flags == "Z":
-            return [self.rails[2]]
-        return list(self.rails)
+            return self.rails[2].get_steppers()
+        return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_position(self):
         return [rail.get_commanded_position() for rail in self.rails]
     def set_position(self, newpos, homing_axes):

klippy/kinematics/corexy.py

@@ -32,10 +32,10 @@ class CoreXYKinematics:
         self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel)
         self.rails[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
-    def get_rails(self, flags=""):
+    def get_steppers(self, flags=""):
         if flags == "Z":
-            return [self.rails[2]]
-        return list(self.rails)
+            return self.rails[2].get_steppers()
+        return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_position(self):
         pos = [rail.get_commanded_position() for rail in self.rails]
         return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]

klippy/kinematics/delta.py

@@ -80,8 +80,8 @@ class DeltaKinematics:
             % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
                math.sqrt(self.very_slow_xy2)))
         self.set_position([0., 0., 0.], ())
-    def get_rails(self, flags=""):
-        return list(self.rails)
+    def get_steppers(self, flags=""):
+        return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, spos):
         sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)]
         return mathutil.trilateration(sphere_coords, self.arm2)