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toolhead: Move G4 and M400 commands from gcode.py to toolhead.py 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-08-16 14:40:04 -04:00
parent 80a6f59c8f
commit cd7c1b8e68
2 changed files with 11 additions and 9 deletions
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9
klippy/gcode.py
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@ -344,7 +344,7 @@ class GCodeParser:
% (key_param, key)) % (key_param, key))
values[key_param](gcmd) values[key_param](gcmd)
all_handlers = [ all_handlers = [
'G1', 'G4', 'G28', 'M400', 'G1', 'G28',
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221', 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE', 'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
'M112', 'M115', 'IGNORE', 'GET_POSITION', 'M112', 'M115', 'IGNORE', 'GET_POSITION',
@ -382,10 +382,6 @@ class GCodeParser:
raise gcmd.error("Unable to parse move '%s'" raise gcmd.error("Unable to parse move '%s'"
% (gcmd.get_commandline(),)) % (gcmd.get_commandline(),))
self.move_with_transform(self.last_position, self.speed) self.move_with_transform(self.last_position, self.speed)
def cmd_G4(self, gcmd):
# Dwell
delay = gcmd.get_float('P', 0., minval=0.) / 1000.
self.toolhead.dwell(delay)
def cmd_G28(self, gcmd): def cmd_G28(self, gcmd):
# Move to origin # Move to origin
axes = [] axes = []
@ -400,9 +396,6 @@ class GCodeParser:
homing_state.home_axes(axes) homing_state.home_axes(axes)
for axis in homing_state.get_axes(): for axis in homing_state.get_axes():
self.base_position[axis] = self.homing_position[axis] self.base_position[axis] = self.homing_position[axis]
def cmd_M400(self, gcmd):
# Wait for current moves to finish
self.toolhead.wait_moves()
# G-Code coordinate manipulation # G-Code coordinate manipulation
def cmd_G20(self, gcmd): def cmd_G20(self, gcmd):
# Set units to inches # Set units to inches

11
klippy/toolhead.py
View File

@ -259,8 +259,10 @@ class ToolHead:
msg = "Error loading kinematics '%s'" % (kin_name,) msg = "Error loading kinematics '%s'" % (kin_name,)
logging.exception(msg) logging.exception(msg)
raise config.error(msg) raise config.error(msg)
# SET_VELOCITY_LIMIT command # Register commands
gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
gcode.register_command('G4', self.cmd_G4)
gcode.register_command('M400', self.cmd_M400)
gcode.register_command('SET_VELOCITY_LIMIT', gcode.register_command('SET_VELOCITY_LIMIT',
self.cmd_SET_VELOCITY_LIMIT, self.cmd_SET_VELOCITY_LIMIT,
desc=self.cmd_SET_VELOCITY_LIMIT_help) desc=self.cmd_SET_VELOCITY_LIMIT_help)
@ -540,6 +542,13 @@ class ToolHead:
self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel
self.max_accel_to_decel = min(self.requested_accel_to_decel, self.max_accel_to_decel = min(self.requested_accel_to_decel,
self.max_accel) self.max_accel)
def cmd_G4(self, gcmd):
# Dwell
delay = gcmd.get_float('P', 0., minval=0.) / 1000.
self.dwell(delay)
def cmd_M400(self, gcmd):
# Wait for current moves to finish
self.wait_moves()
cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits" cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits"
def cmd_SET_VELOCITY_LIMIT(self, gcmd): def cmd_SET_VELOCITY_LIMIT(self, gcmd):
print_time = self.get_last_move_time() print_time = self.get_last_move_time()