diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index f372b1aba..c45563425 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -62,8 +62,9 @@ class BLTouchEndstopWrapper:
desc=self.cmd_BLTOUCH_DEBUG_help)
def _build_config(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
- for stepper in kin.get_steppers('Z'):
- self.add_stepper(stepper)
+ for stepper in kin.get_steppers():
+ if stepper.is_active_axis('z'):
+ self.add_stepper(stepper)
def handle_connect(self):
try:
self.raise_probe()
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index b87aff62e..f5c69ec7a 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -241,8 +241,9 @@ class ProbeEndstopWrapper:
self.TimeoutError = self.mcu_endstop.TimeoutError
def _build_config(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
- for stepper in kin.get_steppers('Z'):
- self.add_stepper(stepper)
+ for stepper in kin.get_steppers():
+ if stepper.is_active_axis('z'):
+ self.add_stepper(stepper)
def home_prepare(self):
toolhead = self.printer.lookup_object('toolhead')
start_pos = toolhead.get_position()
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py
index e6680a759..9784372e0 100644
--- a/klippy/extras/z_tilt.py
+++ b/klippy/extras/z_tilt.py
@@ -16,7 +16,7 @@ class ZAdjustHelper:
self.handle_connect)
def handle_connect(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
- z_steppers = kin.get_steppers('Z')
+ z_steppers = [s for s in kin.get_steppers() if s.is_active_axis('z')]
if len(z_steppers) != self.z_count:
raise self.printer.config_error(
"%s z_positions needs exactly %d items" % (
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index c44ad857e..c9ed31ff5 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -49,9 +49,7 @@ 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_steppers(self, flags=""):
- if flags == "Z":
- return self.rails[2].get_steppers()
+ def get_steppers(self):
rails = self.rails
if self.dual_carriage_axis is not None:
dca = self.dual_carriage_axis
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 98c66dd54..cc94d56cb 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -39,9 +39,7 @@ class CoreXYKinematics:
self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
self.rails[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
- def get_steppers(self, flags=""):
- if flags == "Z":
- return self.rails[2].get_steppers()
+ def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_tag_position(self):
pos = [rail.get_tag_position() for rail in self.rails]
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index f58902b2d..057e9241e 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -87,7 +87,7 @@ 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_steppers(self, flags=""):
+ def get_steppers(self):
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)]
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index 7df1010a0..6ce461a5b 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -7,7 +7,7 @@
class NoneKinematics:
def __init__(self, toolhead, config):
pass
- def get_steppers(self, flags=""):
+ def get_steppers(self):
return []
def calc_tag_position(self):
return [0, 0, 0]
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 6b86a8c87..565525f26 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -37,9 +37,7 @@ class PolarKinematics:
stepper_bed.set_max_jerk(max_halt_velocity, max_accel)
rail_arm.set_max_jerk(max_halt_velocity, max_accel)
rail_z.set_max_jerk(max_halt_velocity, max_accel)
- def get_steppers(self, flags=""):
- if flags == "Z":
- return self.rails[1].get_steppers()
+ def get_steppers(self):
return list(self.steppers)
def calc_tag_position(self):
bed_angle = self.steppers[0].get_tag_position()
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index 9e928d395..a7ab940f7 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -77,7 +77,7 @@ class RotaryDeltaKinematics:
"Delta max build height %.2fmm (radius tapered above %.2fmm)"
% (self.max_z, self.limit_z))
self.set_position([0., 0., 0.], ())
- def get_steppers(self, flags=""):
+ def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_tag_position(self):
spos = [rail.get_tag_position() for rail in self.rails]
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 37494c4e2..04e2d498e 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -29,7 +29,7 @@ class WinchKinematics:
s.set_max_jerk(max_halt_velocity, max_accel)
# Setup boundary checks
self.set_position([0., 0., 0.], ())
- def get_steppers(self, flags=""):
+ def get_steppers(self):
return list(self.steppers)
def calc_tag_position(self):
# Use only first three steppers to calculate cartesian position