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toolhead: Handle rounding errors with extrude only moves 

It's possible that a g-code transform class may make an extrude only
move appear as a kinematic move due to limitations of double precision
math.  Handle this by checking for an inconsequential move distance
instead of checking for a move distance of exactly zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-09-11 13:23:20 -04:00
parent 947a7b2b0f
commit 4573932f89
1 changed files with 4 additions and 1 deletions
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5
klippy/toolhead.py
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@ -21,8 +21,11 @@ class Move:
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
if not move_d:
if move_d < .000000001:
# Extrude only move
self.end_pos = (start_pos[0], start_pos[1], start_pos[2],
end_pos[3])
axes_d[0] = axes_d[1] = axes_d[2] = 0.
self.move_d = move_d = abs(axes_d[3])
self.is_kinematic_move = False
self.min_move_t = move_d / speed