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toolhead: Don't call into kinematic class on extrude only moves 

Add a is_kinematic_move flag to the Move class and clear it on extrude
only moves.  Don't call the kinematic check_move() or move() methods
for extrude only moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-28 11:48:40 -05:00
parent f46bc0ef04
commit f2b406fc5e
3 changed files with 7 additions and 9 deletions
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2
klippy/delta.py
View File

@ -131,8 +131,6 @@ class DeltaKinematics:
movez_r = 0.
inv_movexy_d = 1. / movexy_d
if not axes_d[0] and not axes_d[1]:
if not axes_d[2]:
return
movez_r = axes_d[2] * inv_movexy_d
movexy_d = movexy_r = inv_movexy_d = 0.
elif axes_d[2]:

4
klippy/extruder.py
View File

@ -26,9 +26,7 @@ class PrinterExtruder:
if not self.heater.can_extrude:
raise homing.EndstopMoveError(
move.end_pos, "Extrude below minimum temp")
if (not move.do_calc_junction
and not move.axes_d[0] and not move.axes_d[1]
and not move.axes_d[2]):
if not move.is_kinematic_move:
# Extrude only move - limit accel and velocity
move.limit_speed(self.max_e_velocity, self.max_e_accel)
def move(self, move_time, move):

10
klippy/toolhead.py
View File

@ -19,7 +19,7 @@ class Move:
self.start_pos = tuple(start_pos)
self.end_pos = tuple(end_pos)
self.accel = accel
self.do_calc_junction = True
self.do_calc_junction = self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
if axes_d[2]:
# Move with Z
@ -34,7 +34,7 @@ class Move:
# No move
self.move_d = 0.
return
self.do_calc_junction = False
self.do_calc_junction = self.is_kinematic_move = False
self.move_d = move_d
self.extrude_r = axes_d[3] / move_d
# Junction speeds are velocities squared. The junction_delta
@ -93,7 +93,8 @@ class Move:
self.accel_t, self.cruise_t, self.decel_t = accel_t, cruise_t, decel_t
# Generate step times for the move
next_move_time = self.toolhead.get_next_move_time()
self.toolhead.kin.move(next_move_time, self)
if self.is_kinematic_move:
self.toolhead.kin.move(next_move_time, self)
if self.axes_d[3]:
self.toolhead.extruder.move(next_move_time, self)
self.toolhead.update_move_time(accel_t + cruise_t + decel_t)
@ -265,7 +266,8 @@ class ToolHead:
move = Move(self, self.commanded_pos, newpos, speed, self.max_accel)
if not move.move_d:
return
self.kin.check_move(move)
if move.is_kinematic_move:
self.kin.check_move(move)
if move.axes_d[3]:
self.extruder.check_move(move)
self.commanded_pos[:] = newpos