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toolhead: Store both the start and end position in the Move class 

Store the start position (in addition to the existing end position) in
the Move class.  The start position can be useful to the kinematic
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-10-25 19:11:05 -04:00
parent 306db9a851
commit 6a96e83ea9
3 changed files with 21 additions and 17 deletions
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14
klippy/cartesian.py
View File

@ -67,16 +67,17 @@ class CartKinematics:
def query_endstops(self, move_time): def query_endstops(self, move_time):
return homing.QueryEndstops(["x", "y", "z"], self.steppers) return homing.QueryEndstops(["x", "y", "z"], self.steppers)
def check_endstops(self, move): def check_endstops(self, move):
end_pos = move.end_pos
for i in StepList: for i in StepList:
if (move.axes_d[i] if (move.axes_d[i]
and (move.pos[i] < self.limits[i][0] and (end_pos[i] < self.limits[i][0]
or move.pos[i] > self.limits[i][1])): or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]: if self.limits[i][0] > self.limits[i][1]:
raise homing.EndstopError(move.pos, "Must home axis first") raise homing.EndstopError(end_pos, "Must home axis first")
raise homing.EndstopError(move.pos) raise homing.EndstopError(end_pos)
def check_move(self, move): def check_move(self, move):
limits = self.limits limits = self.limits
xpos, ypos = move.pos[:2] xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1] if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]): or ypos < limits[1][0] or ypos > limits[1][1]):
self.check_endstops(move) self.check_endstops(move)
@ -96,7 +97,8 @@ class CartKinematics:
inv_accel = 1. / move.accel inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v inv_cruise_v = 1. / move.cruise_v
for i in StepList: for i in StepList:
new_step_pos = int(move.pos[i]*self.steppers[i].inv_step_dist + 0.5) new_step_pos = int(
move.end_pos[i]*self.steppers[i].inv_step_dist + 0.5)
steps = new_step_pos - self.stepper_pos[i] steps = new_step_pos - self.stepper_pos[i]
if not steps: if not steps:
continue continue

2
klippy/extruder.py
View File

@ -21,7 +21,7 @@ class PrinterExtruder:
self.stepper.motor_enable(move_time, 0) self.stepper.motor_enable(move_time, 0)
def check_move(self, move): def check_move(self, move):
if not self.heater.can_extrude: if not self.heater.can_extrude:
raise homing.EndstopError(move.pos, "Extrude below minimum temp") raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
if (not move.do_calc_junction if (not move.do_calc_junction
and not move.axes_d[0] and not move.axes_d[1] and not move.axes_d[0] and not move.axes_d[1]
and not move.axes_d[2]): and not move.axes_d[2]):

22
klippy/toolhead.py
View File

@ -14,12 +14,13 @@ EXTRUDE_DIFF_IGNORE = 1.02
# Class to track each move request # Class to track each move request
class Move: class Move:
def __init__(self, toolhead, pos, axes_d, speed, accel): def __init__(self, toolhead, start_pos, end_pos, speed, accel):
self.toolhead = toolhead self.toolhead = toolhead
self.pos = tuple(pos) self.start_pos = tuple(start_pos)
self.axes_d = axes_d self.end_pos = tuple(end_pos)
self.accel = accel self.accel = accel
self.do_calc_junction = True self.do_calc_junction = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
if axes_d[2]: if axes_d[2]:
# Move with Z # Move with Z
move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@ -29,6 +30,10 @@ class Move:
if not move_d: if not move_d:
# Extrude only move # Extrude only move
move_d = abs(axes_d[3]) move_d = abs(axes_d[3])
if not move_d:
# No move
self.move_d = 0.
return
self.do_calc_junction = False self.do_calc_junction = False
self.move_d = move_d self.move_d = move_d
self.extrude_r = axes_d[3] / move_d self.extrude_r = axes_d[3] / move_d
@ -245,15 +250,12 @@ class ToolHead:
self.commanded_pos[:] = newpos self.commanded_pos[:] = newpos
self.kin.set_position(newpos) self.kin.set_position(newpos)
def move(self, newpos, speed, sloppy=False): def move(self, newpos, speed, sloppy=False):
axes_d = [newpos[i] - self.commanded_pos[i]
for i in (0, 1, 2, 3)]
if axes_d == [0., 0., 0., 0.]:
# No move
return
speed = min(speed, self.max_speed) speed = min(speed, self.max_speed)
move = Move(self, newpos, axes_d, speed, self.max_accel) move = Move(self, self.commanded_pos, newpos, speed, self.max_accel)
if not move.move_d:
return
self.kin.check_move(move) self.kin.check_move(move)
if axes_d[3]: if move.axes_d[3]:
self.extruder.check_move(move) self.extruder.check_move(move)
self.commanded_pos[:] = newpos self.commanded_pos[:] = newpos
self.move_queue.add_move(move) self.move_queue.add_move(move)