Commit 3d3b87f9 incorrectly removed the call to
note_kinematic_activity(). A call to toolhead.dwell() is not
sufficient to wake up the mcu move queue flushing. The call to
note_kinematic_activity() is needed for that.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit b7b13588 made it possible that the kinematic code could be
restarted after a flush_step_generation() call without a sufficient
delay.
Rename last_sg_flush_time to min_restart_time and use that to ensure
_calc_print_time() always pauses kin_flush_delay time since the last
flush_step_generation() call.
Also, update force_move to invoke flush_step_generation() after any
movements. This is needed to ensure there is a sufficient delay
should force_move be called on a stepper motor that is part of the
toolhead kinematics and is using a step generation "scan time".
This fixes possible "internal error in stepcompress" reports when
using FORCE_MOVE.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Generate a "toolhead:set_position" event on a call to
toolhead.set_position() and use that event to automatically call
gcode.reset_last_position().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't obtain the step_distance from the config, instead obtain
step_distance from the instantiated stepper object.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The STEPPER_BUZZ command needs to know if the axis is using radians
instead of millimeters so that it can move a more appropriate
distance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update code that modifies the low-level kinematics handlers to first
call toolhead.flush_step_generation().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the enable line tracking out of the main stepper.py code. This
simplifies the main kinematic code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r. This avoids
needing to recalculate the value in other code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add initial support for commands that will forcibly move a stepper
(without updating the kinematic classes with the new position).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor