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extruder_stepper: Support changing synced extruder on the fly (#2824) 

Signed-off-by: Christopher Meredith <chmeredith@gmail.com>
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theophile 2020-06-06 13:30:58 -05:00 committed by GitHub
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9
docs/G-Codes.md
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@ -278,6 +278,15 @@ section is enabled:
future G-Code movement commands may run in parallel with the stepper future G-Code movement commands may run in parallel with the stepper
movement. movement.
## Extruder stepper Commands
The following command is available when an "extruder_stepper" config
section is enabled:
- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<extruder_stepper config_name>
[EXTRUDER=<extruder config_name>]`: This command will cause the given
STEPPER to become synchronized to the given EXTRUDER, overriding
the extruder defined in the "extruder_stepper" config section.
## Probe ## Probe
The following commands are available when a "probe" config section is The following commands are available when a "probe" config section is

20
klippy/extras/extruder_stepper.py
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@ -9,17 +9,37 @@ import stepper
class ExtruderStepper: class ExtruderStepper:
def __init__(self, config): def __init__(self, config):
self.printer = config.get_printer() self.printer = config.get_printer()
stepper_name = config.get_name().split()[1]
self.extruder_name = config.get('extruder', 'extruder') self.extruder_name = config.get('extruder', 'extruder')
self.stepper = stepper.PrinterStepper(config) self.stepper = stepper.PrinterStepper(config)
self.stepper.set_max_jerk(9999999.9, 9999999.9) self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.stepper.setup_itersolve('extruder_stepper_alloc') self.stepper.setup_itersolve('extruder_stepper_alloc')
self.printer.register_event_handler("klippy:connect", self.printer.register_event_handler("klippy:connect",
self.handle_connect) self.handle_connect)
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
stepper_name,
self.cmd_SYNC_STEPPER_TO_EXTRUDER,
desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
def handle_connect(self): def handle_connect(self):
extruder = self.printer.lookup_object(self.extruder_name) extruder = self.printer.lookup_object(self.extruder_name)
self.stepper.set_trapq(extruder.get_trapq()) self.stepper.set_trapq(extruder.get_trapq())
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
toolhead.register_step_generator(self.stepper.generate_steps) toolhead.register_step_generator(self.stepper.generate_steps)
cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
gcode = self.printer.lookup_object('gcode')
self.extruder_name = gcmd.get('EXTRUDER', None)
extruder = self.printer.lookup_object(self.extruder_name, None)
if extruder is not None:
epos = extruder.stepper.get_commanded_position()
self.stepper.set_position([epos, 0., 0.])
self.stepper.set_trapq(extruder.get_trapq())
gcode.respond_info("Extruder stepper now syncing with '%s'"
% (self.extruder_name))
else:
raise gcmd.error("'%s' is not a valid extruder."
% (self.extruder_name))
def load_config_prefix(config): def load_config_prefix(config):
return ExtruderStepper(config) return ExtruderStepper(config)