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stepper: Improve get_past_commanded_position() 

Pass a print_time instead of a clock to get_past_commanded_position().
Fix calculation on steppers that home and use an inverted direction
pin.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-05-29 21:29:00 -04:00
parent 2bd03b97f0
commit 77bc5e4388
2 changed files with 8 additions and 8 deletions
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4
klippy/kinematics/extruder.py
View File

@ -152,9 +152,7 @@ class PrinterExtruder:
1., pressure_advance, 0.,
start_v, cruise_v, accel)
def find_past_position(self, print_time):
mcu = self.stepper.get_mcu()
clock = mcu.print_time_to_clock(print_time)
return self.stepper.get_past_commanded_position(clock)
return self.stepper.get_past_commanded_position(print_time)
def cmd_M104(self, gcmd, wait=False):
# Set Extruder Temperature
temp = gcmd.get_float('S', 0.)

12
klippy/stepper.py
View File

@ -112,10 +112,12 @@ class MCU_stepper:
return self._tag_position
def set_tag_position(self, position):
self._tag_position = position
def get_past_commanded_position(self, clock):
def get_past_mcu_position(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
ffi_main, ffi_lib = chelper.get_ffi()
sq = self._stepqueue
mcu_pos = ffi_lib.stepcompress_find_past_position(sq, clock)
return ffi_lib.stepcompress_find_past_position(self._stepqueue, clock)
def get_past_commanded_position(self, print_time):
mcu_pos = self.get_past_mcu_position(print_time)
return mcu_pos * self._step_dist - self._mcu_position_offset
def set_stepper_kinematics(self, sk):
old_sk = self._stepper_kinematics
@ -139,12 +141,12 @@ class MCU_stepper:
return
params = self._get_position_cmd.send([self._oid])
last_pos = params['pos']
if self._invert_dir:
last_pos = -last_pos
ret = ffi_lib.stepcompress_set_last_position(self._stepqueue, last_pos)
if ret:
raise error("Internal error in stepcompress")
mcu_pos_dist = last_pos * self._step_dist
if self._invert_dir:
mcu_pos_dist = -mcu_pos_dist
self._mcu_position_offset = mcu_pos_dist - self.get_commanded_position()
def set_trapq(self, tq):
ffi_main, ffi_lib = chelper.get_ffi()