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toolhead: Use new GCodeCommand wrappers 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-24 19:54:24 -04:00
parent b0d9a82718
commit ec0e3e710c
1 changed files with 19 additions and 23 deletions
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38
klippy/toolhead.py
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@ -537,17 +537,14 @@ class ToolHead:
self.max_accel_to_decel = min(self.requested_accel_to_decel,
self.max_accel)
cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits"
def cmd_SET_VELOCITY_LIMIT(self, params):
def cmd_SET_VELOCITY_LIMIT(self, gcmd):
print_time = self.get_last_move_time()
gcode = self.printer.lookup_object('gcode')
max_velocity = gcode.get_float('VELOCITY', params, self.max_velocity,
above=0.)
max_accel = gcode.get_float('ACCEL', params, self.max_accel, above=0.)
square_corner_velocity = gcode.get_float(
'SQUARE_CORNER_VELOCITY', params, self.square_corner_velocity,
minval=0.)
self.requested_accel_to_decel = gcode.get_float(
'ACCEL_TO_DECEL', params, self.requested_accel_to_decel, above=0.)
max_velocity = gcmd.get_float('VELOCITY', self.max_velocity, above=0.)
max_accel = gcmd.get_float('ACCEL', self.max_accel, above=0.)
square_corner_velocity = gcmd.get_float(
'SQUARE_CORNER_VELOCITY', self.square_corner_velocity, minval=0.)
self.requested_accel_to_decel = gcmd.get_float(
'ACCEL_TO_DECEL', self.requested_accel_to_decel, above=0.)
self.max_velocity = min(max_velocity, self.config_max_velocity)
self.max_accel = min(max_accel, self.config_max_accel)
self.square_corner_velocity = min(square_corner_velocity,
@ -560,20 +557,19 @@ class ToolHead:
max_velocity, max_accel, self.requested_accel_to_decel,
square_corner_velocity))
self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,))
gcode.respond_info(msg, log=False)
def cmd_M204(self, params):
gcode = self.printer.lookup_object('gcode')
if 'S' in params:
gcmd.respond_info(msg, log=False)
def cmd_M204(self, gcmd):
# Use S for accel
accel = gcode.get_float('S', params, above=0.)
elif 'P' in params and 'T' in params:
accel = gcmd.get_float('S', None, above=0.)
if accel is None:
# Use minimum of P and T for accel
accel = min(gcode.get_float('P', params, above=0.),
gcode.get_float('T', params, above=0.))
else:
gcode.respond_info('Invalid M204 command "%s"'
% (params['#original'],))
p = gcmd.get_float('P', None, above=0.)
t = gcmd.get_float('T', None, above=0.)
if p is None or t is None:
gcmd.respond_info('Invalid M204 command "%s"'
% (gcmd.get_commandline(),))
return
accel = min(p, t)
self.max_accel = min(accel, self.config_max_accel)
self._calc_junction_deviation()