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gcode: Store internal speed in mm/s 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-05-24 19:37:08 -04:00
parent b8a4cf7701
commit 7792b0f2bb
1 changed files with 16 additions and 12 deletions
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28
klippy/gcode.py
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@ -1,6 +1,6 @@
# Parse gcode commands
#
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections, shlex
@ -50,6 +50,7 @@ class GCodeParser:
self.base_position = [0.0, 0.0, 0.0, 0.0]
self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_position = [0.0, 0.0, 0.0, 0.0]
self.speed = 25.
self.speed_factor = 1. / 60.
self.extrude_factor = 1.
self.move_transform = self.move_with_transform = None
@ -58,7 +59,6 @@ class GCodeParser:
self.need_ack = False
self.toolhead = self.fan = self.extruder = None
self.heaters = None
self.speed = 25. * 60.
self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
def register_command(self, cmd, func, when_not_ready=False, desc=None):
if func is None:
@ -102,16 +102,20 @@ class GCodeParser:
self.position_with_transform = transform.get_position
def stats(self, eventtime):
return False, "gcodein=%d" % (self.bytes_read,)
def _get_current_position(self):
def _get_gcode_position(self):
p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
p[3] /= self.extrude_factor
return p
def _get_gcode_speed(self):
return self.speed / self.speed_factor
def _get_gcode_speed_override(self):
return self.speed_factor * 60.
def get_status(self, eventtime):
move_position = self._get_current_position()
move_position = self._get_gcode_position()
busy = self.is_processing_data
return {
'speed_factor': self.speed_factor * 60.,
'speed': self.speed,
'speed_factor': self._get_gcode_speed_override(),
'speed': self._get_gcode_speed(),
'extrude_factor': self.extrude_factor,
'abs_extrude': self.absoluteextrude,
'busy': busy,
@ -509,16 +513,15 @@ class GCodeParser:
# value relative to base coordinate position
self.last_position[3] = v + self.base_position[3]
if 'F' in params:
speed = float(params['F'])
if speed <= 0.:
gcode_speed = float(params['F'])
if gcode_speed <= 0.:
raise error("Invalid speed in '%s'" % (
params['#original'],))
self.speed = speed
self.speed = gcode_speed * self.speed_factor
except ValueError as e:
raise error("Unable to parse move '%s'" % (params['#original'],))
try:
self.move_with_transform(self.last_position,
self.speed * self.speed_factor)
self.move_with_transform(self.last_position, self.speed)
except homing.EndstopError as e:
raise error(str(e))
def cmd_G4(self, params):
@ -582,11 +585,12 @@ class GCodeParser:
cmd_M114_when_not_ready = True
def cmd_M114(self, params):
# Get Current Position
p = self._get_current_position()
p = self._get_gcode_position()
self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
def cmd_M220(self, params):
# Set speed factor override percentage
value = self.get_float('S', params, 100., above=0.) / (60. * 100.)
self.speed = self._get_gcode_speed() * value
self.speed_factor = value
def cmd_M221(self, params):
# Set extrude factor override percentage