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gcode: Add support for M221 (set extrude factor) g-code command 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-21 21:33:38 -05:00
parent 5db4886c9c
commit 3ab9a8d26c
1 changed files with 32 additions and 12 deletions
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44
klippy/gcode.py
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@ -44,6 +44,7 @@ class GCodeParser:
self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.speed_factor = 1. / 60.
self.extrude_factor = 1.
# G-Code state
self.need_ack = False
self.toolhead = self.fan = self.extruder = None
@ -105,10 +106,10 @@ class GCodeParser:
out.append(
"gcode state: absolutecoord=%s absoluteextrude=%s"
" base_position=%s last_position=%s homing_add=%s"
" speed_factor=%s speed=%s" % (
" speed_factor=%s extrude_factor=%s speed=%s" % (
self.absolutecoord, self.absoluteextrude,
self.base_position, self.last_position, self.homing_add,
self.speed_factor, self.speed))
self.speed_factor, self.extrude_factor, self.speed))
logging.info("\n".join(out))
# Parse input into commands
args_r = re.compile('([A-Z_]+|[A-Z*])')
@ -316,7 +317,7 @@ class GCodeParser:
self.process_commands(activate_gcode.split('\n'), need_ack=False)
all_handlers = [
'G1', 'G4', 'G28', 'M18', 'M400',
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220',
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220', 'M221',
'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
@ -325,16 +326,24 @@ class GCodeParser:
def cmd_G1(self, params):
# Move
try:
for a, p in self.axis2pos.items():
if a in params:
v = float(params[a])
if (not self.absolutecoord
or (p>2 and not self.absoluteextrude)):
for axis in 'XYZ':
if axis in params:
v = float(params[axis])
pos = self.axis2pos[axis]
if not self.absolutecoord:
# value relative to position of last move
self.last_position[p] += v
self.last_position[pos] += v
else:
# value relative to base coordinate position
self.last_position[p] = v + self.base_position[p]
self.last_position[pos] = v + self.base_position[pos]
if 'E' in params:
v = float(params['E']) * self.extrude_factor
if not self.absolutecoord or not self.absoluteextrude:
# value relative to position of last move
self.last_position[3] += v
else:
# value relative to base coordinate position
self.last_position[3] = v + self.base_position[3]
if 'F' in params:
speed = float(params['F']) * self.speed_factor
if speed <= 0.:
@ -400,13 +409,15 @@ class GCodeParser:
offsets = { p: self.get_float(a, params)
for a, p in self.axis2pos.items() if a in params }
for p, offset in offsets.items():
if p == 3:
offset *= self.extrude_factor
self.base_position[p] = self.last_position[p] - offset
if not offsets:
self.base_position = list(self.last_position)
def cmd_M206(self, params):
# Set home offset
offsets = { p: self.get_float(a, params)
for a, p in self.axis2pos.items() if a in params }
offsets = { self.axis2pos[a]: self.get_float(a, params)
for a in 'XYZ' if a in params }
for p, offset in offsets.items():
self.base_position[p] += self.homing_add[p] - offset
self.homing_add[p] = offset
@ -416,6 +427,15 @@ class GCodeParser:
if value <= 0.:
raise error("Invalid factor in '%s'" % (params['#original'],))
self.speed_factor = value
def cmd_M221(self, params):
# Set extrude factor override percentage
new_extrude_factor = self.get_float('S', params, 100.) / 100.
if new_extrude_factor <= 0.:
raise error("Invalid factor in '%s'" % (params['#original'],))
last_e_pos = self.last_position[3]
e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
self.base_position[3] = last_e_pos - e_value * new_extrude_factor
self.extrude_factor = new_extrude_factor
# G-Code temperature and fan commands
cmd_M105_when_not_ready = True
def cmd_M105(self, params):