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force_move: Use new GCodeCommand wrappers 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-24 22:06:26 -04:00
parent 57ca91a875
commit 19abe2b974
1 changed files with 24 additions and 23 deletions
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47
klippy/extras/force_move.py
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@ -41,15 +41,15 @@ class ForceMove:
ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
ffi_lib.itersolve_set_trapq(self.stepper_kinematics, self.trapq)
# Register commands
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
gcode = self.printer.lookup_object('gcode')
gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
if config.getboolean("enable_force_move", False):
self.gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE,
desc=self.cmd_FORCE_MOVE_help)
self.gcode.register_command(
'SET_KINEMATIC_POSITION', self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help)
gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE,
desc=self.cmd_FORCE_MOVE_help)
gcode.register_command('SET_KINEMATIC_POSITION',
self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help)
def register_stepper(self, stepper):
name = stepper.get_name()
self.steppers[name] = stepper
@ -91,14 +91,14 @@ class ForceMove:
stepper.set_stepper_kinematics(prev_sk)
toolhead.note_kinematic_activity(print_time)
toolhead.dwell(accel_t + cruise_t + accel_t)
def _lookup_stepper(self, params):
name = self.gcode.get_str('STEPPER', params)
def _lookup_stepper(self, gcmd):
name = gcmd.get('STEPPER')
if name not in self.steppers:
raise self.gcode.error("Unknown stepper %s" % (name,))
raise gcmd.error("Unknown stepper %s" % (name,))
return self.steppers[name]
cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
def cmd_STEPPER_BUZZ(self, params):
stepper = self._lookup_stepper(params)
def cmd_STEPPER_BUZZ(self, gcmd):
stepper = self._lookup_stepper(gcmd)
logging.info("Stepper buzz %s", stepper.get_name())
was_enable = self.force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead')
@ -112,26 +112,27 @@ class ForceMove:
toolhead.dwell(.450)
self.restore_enable(stepper, was_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, params):
stepper = self._lookup_stepper(params)
distance = self.gcode.get_float('DISTANCE', params)
speed = self.gcode.get_float('VELOCITY', params, above=0.)
accel = self.gcode.get_float('ACCEL', params, 0., minval=0.)
def cmd_FORCE_MOVE(self, gcmd):
stepper = self._lookup_stepper(gcmd)
distance = gcmd.get_float('DISTANCE')
speed = gcmd.get_float('VELOCITY', above=0.)
accel = gcmd.get_float('ACCEL', 0., minval=0.)
logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
stepper.get_name(), distance, speed, accel)
self.force_enable(stepper)
self.manual_move(stepper, distance, speed, accel)
cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
def cmd_SET_KINEMATIC_POSITION(self, params):
def cmd_SET_KINEMATIC_POSITION(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
toolhead.get_last_move_time()
curpos = toolhead.get_position()
x = self.gcode.get_float('X', params, curpos[0])
y = self.gcode.get_float('Y', params, curpos[1])
z = self.gcode.get_float('Z', params, curpos[2])
x = gcmd.get_float('X', curpos[0])
y = gcmd.get_float('Y', curpos[1])
z = gcmd.get_float('Z', curpos[2])
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
self.gcode.reset_last_position()
gcode = self.printer.lookup_object('gcode')
gcode.reset_last_position()
def load_config(config):
return ForceMove(config)