toolhead: Initial support for adding extra axes to toolhead moves

Add a new add_extra_axes() to support adding additional axes.  Once
called, toolhead.get_position() will return a list object with more
than 4 items, and toolhead.move() requires the same size list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 14 insertions, 13 deletions

diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index 8de8ded2..2b07089b 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -199,24 +199,25 @@ class PrinterExtruder:
         return self.trapq
     def stats(self, eventtime):
         return self.heater.stats(eventtime)
-    def check_move(self, move):
-        axis_r = move.axes_r[3]
+    def check_move(self, move, ea_index):
         if not self.heater.can_extrude:
             raise self.printer.command_error(
                 "Extrude below minimum temp\n"
                 "See the 'min_extrude_temp' config option for details")
+        axis_r = move.axes_r[ea_index]
+        axis_d = move.axes_d[ea_index]
         if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.:
             # Extrude only move (or retraction move) - limit accel and velocity
-            if abs(move.axes_d[3]) > self.max_e_dist:
+            if abs(axis_d) > self.max_e_dist:
                 raise self.printer.command_error(
                     "Extrude only move too long (%.3fmm vs %.3fmm)\n"
                     "See the 'max_extrude_only_distance' config"
-                    " option for details" % (move.axes_d[3], self.max_e_dist))
+                    " option for details" % (axis_d, self.max_e_dist))
             inv_extrude_r = 1. / abs(axis_r)
             move.limit_speed(self.max_e_velocity * inv_extrude_r,
                              self.max_e_accel * inv_extrude_r)
         elif axis_r > self.max_extrude_ratio:
-            if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
+            if axis_d <= self.nozzle_diameter * self.max_extrude_ratio:
                 # Permit extrusion if amount extruded is tiny
                 return
             area = axis_r * self.filament_area
@@ -226,13 +227,13 @@ class PrinterExtruder:
                 "Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
                 "See the 'max_extrude_cross_section' config option for details"
                 % (area, self.max_extrude_ratio * self.filament_area))
-    def calc_junction(self, prev_move, move):
-        diff_r = move.axes_r[3] - prev_move.axes_r[3]
+    def calc_junction(self, prev_move, move, ea_index):
+        diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index]
         if diff_r:
             return (self.instant_corner_v / abs(diff_r))**2
         return move.max_cruise_v2
-    def process_move(self, print_time, move):
-        axis_r = move.axes_r[3]
+    def process_move(self, print_time, move, ea_index):
+        axis_r = move.axes_r[ea_index]
         accel = move.accel * axis_r
         start_v = move.start_v * axis_r
         cruise_v = move.cruise_v * axis_r
@@ -242,10 +243,10 @@ class PrinterExtruder:
         # Queue movement (x is extruder movement, y is pressure advance flag)
         self.trapq_append(self.trapq, print_time,
                           move.accel_t, move.cruise_t, move.decel_t,
-                          move.start_pos[3], 0., 0.,
+                          move.start_pos[ea_index], 0., 0.,
                           1., can_pressure_advance, 0.,
                           start_v, cruise_v, accel)
-        self.last_position = move.end_pos[3]
+        self.last_position = move.end_pos[ea_index]
     def find_past_position(self, print_time):
         if self.extruder_stepper is None:
             return 0.
@@ -285,11 +286,11 @@ class PrinterExtruder:
 class DummyExtruder:
     def __init__(self, printer):
         self.printer = printer
-    def check_move(self, move):
+    def check_move(self, move, ea_index):
         raise move.move_error("Extrude when no extruder present")
     def find_past_position(self, print_time):
         return 0.
-    def calc_junction(self, prev_move, move):
+    def calc_junction(self, prev_move, move, ea_index):
         return move.max_cruise_v2
     def get_name(self):
         return ""