generic_cartesian: Use stepper instead of kinematic_stepper in configs

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
dmbutyugin · Aug 5, 2024 · 4ce0755 · 4ce0755
1 parent 60ead2e
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Showing 6 changed files with 22 additions and 24 deletions.
diff --git a/klippy/extras/kinematic_stepper.py b/klippy/extras/kinematic_stepper.py
@@ -94,8 +94,3 @@ def get_active_axes(self):
         return [i for i, c in enumerate(self.kin_coeffs) if c]
     def get_carriages(self):
         return self.carriages
-
-
-def LoadKinematicSteppers(config, carriages):
-    return [KinematicStepper(c, carriages)
-            for c in config.get_prefix_sections('kinematic_stepper')]
diff --git a/klippy/kinematics/generic_cartesian.py b/klippy/kinematics/generic_cartesian.py
@@ -141,14 +141,17 @@ def _load_kinematics(self, config):
                 raise config.error(
                         "Redefinition of carriage %s" % ec.get_name())
             carriages[name] = ec
-        self.steppers = ks.LoadKinematicSteppers(config, carriages)
+        self.steppers = self._load_steppers(config, carriages)
         for s in self.steppers:
             for c in s.get_carriages():
                 carriages.pop(c.get_name(), None)
         if carriages:
             raise config.error(
                     "Carriage(s) %s must be referenced by some "
-                    "kinematic_stepper(s) kinematics" % (", ".join(carriages),))
+                    "stepper(s) kinematics" % (", ".join(carriages),))
+    def _load_steppers(self, config, carriages):
+        return [ks.KinematicStepper(c, carriages)
+                for c in config.get_prefix_sections('stepper')]
     def get_steppers(self):
         return self.steppers
     def get_primary_carriages(self):
@@ -180,9 +183,9 @@ def _check_kinematics(self):
         det = mathutil.matrix_det(mat_mul(mat_transp(matr), matr))
         if abs(det) < 0.00001:
             raise self.printer.config_error(
-                    "Verify configured 'kinematic_stepper'(s) and their "
-                    "'kinematics' specifications, the current configuration "
-                    "does not allow independent movements of all printer axes.")
+                    "Verify configured stepper(s) and their 'kinematics' "
+                    "specifications, the current configuration does not "
+                    "allow independent movements of all printer axes.")
     def calc_position(self, stepper_positions):
         matr, offs = self._get_kinematics_coeffs()
         inv = mathutil.matrix_inv(mat_mul(mat_transp(matr), matr))

diff --git a/test/klippy/corexyuv.cfg b/test/klippy/corexyuv.cfg
@@ -36,47 +36,47 @@ position_max: 200
 homing_speed: 50
 endstop_pin: ^PD4
 
-[kinematic_stepper a]
+[stepper a]
 kinematics: x+y
 step_pin: PF0
 dir_pin: PF1
 enable_pin: !PD7
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper b]
+[stepper b]
 kinematics: u-v
 step_pin: PH1
 dir_pin: PH0
 enable_pin: !PA1
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper c]
+[stepper c]
 kinematics: x-y
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper d]
+[stepper d]
 kinematics: u+v
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper z]
+[stepper z]
 kinematics: z
 step_pin: PL3
 dir_pin: PL1
 enable_pin: !PK0
 microsteps: 16
 rotation_distance: 8
 
-[kinematic_stepper z1]
+[stepper z1]
 kinematics: z1
 step_pin: PG1
 dir_pin: PG0

diff --git a/test/klippy/corexyuv.test b/test/klippy/corexyuv.test
@@ -46,6 +46,6 @@ SET_SERVO servo=my_servo angle=160
 SET_SERVO servo=my_servo angle=130
 
 # Verify STEPPER_BUZZ
-STEPPER_BUZZ STEPPER='kinematic_stepper d'
+STEPPER_BUZZ STEPPER='stepper d'
 STEPPER_BUZZ STEPPER=extruder
 STEPPER_BUZZ STEPPER=extruder1
diff --git a/test/klippy/generic_cartesian.cfg b/test/klippy/generic_cartesian.cfg
@@ -31,47 +31,47 @@ position_max: 300
 homing_speed: 50
 endstop_pin: ^PE4
 
-[kinematic_stepper stepper_x]
+[stepper stepper_x]
 kinematics: x+y
 step_pin: PF0
 dir_pin: PF1
 enable_pin: !PD7
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper dual_carriage]
+[stepper dual_carriage]
 kinematics: u-y1
 step_pin: PH1
 dir_pin: PH0
 enable_pin: !PA1
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper stepper_y]
+[stepper stepper_y]
 kinematics: 1*y+0.5*z
 step_pin: PF6
 dir_pin: !PF7
 enable_pin: !PF2
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper stepper_y1]
+[stepper stepper_y1]
 kinematics: 1*y1-0.5*z1
 step_pin: PE3
 dir_pin: !PH6
 enable_pin: !PG5
 microsteps: 16
 rotation_distance: 40
 
-[kinematic_stepper stepper_z]
+[stepper stepper_z]
 kinematics: z
 step_pin: PL3
 dir_pin: PL1
 enable_pin: !PK0
 microsteps: 16
 rotation_distance: 8
 
-[kinematic_stepper stepper_z1]
+[stepper stepper_z1]
 kinematics: z1
 step_pin: PG1
 dir_pin: PG0

diff --git a/test/klippy/generic_cartesian.test b/test/klippy/generic_cartesian.test
@@ -46,6 +46,6 @@ SET_SERVO servo=my_servo angle=160
 SET_SERVO servo=my_servo angle=130
 
 # Verify STEPPER_BUZZ
-STEPPER_BUZZ STEPPER='kinematic_stepper dual_carriage'
+STEPPER_BUZZ STEPPER='stepper dual_carriage'
 STEPPER_BUZZ STEPPER=extruder
 STEPPER_BUZZ STEPPER=extruder1