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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-04-29 14:56:39 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-06-09 18:54:38 -0400 |
| commit | 24b8f4ebc192dde459fb345ebc109847dd7266e7 (patch) | |
| tree | 770ee82bcf96cfa90e52ae3a321baee60aaca590 /klippy/toolhead.py | |
| parent | 136dccbcdfc6a20c8b6755afdfb65891cee3d1a7 (diff) | |
| download | kutter-24b8f4ebc192dde459fb345ebc109847dd7266e7.tar.gz kutter-24b8f4ebc192dde459fb345ebc109847dd7266e7.tar.xz kutter-24b8f4ebc192dde459fb345ebc109847dd7266e7.zip | |
extruder: Add initial support for multi-extruders
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 23 |
1 files changed, 16 insertions, 7 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 7b25c7e5..ab064cfe 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -96,8 +96,8 @@ LOOKAHEAD_FLUSH_TIME = 0.250 # Class to track a list of pending move requests and to facilitate # "look-ahead" across moves to reduce acceleration between moves. class MoveQueue: - def __init__(self, extruder_lookahead): - self.extruder_lookahead = extruder_lookahead + def __init__(self): + self.extruder_lookahead = None self.queue = [] self.leftover = 0 self.junction_flush = LOOKAHEAD_FLUSH_TIME @@ -107,6 +107,8 @@ class MoveQueue: self.junction_flush = LOOKAHEAD_FLUSH_TIME def set_flush_time(self, flush_time): self.junction_flush = flush_time + def set_extruder(self, extruder): + self.extruder_lookahead = extruder.lookahead def flush(self, lazy=False): self.junction_flush = LOOKAHEAD_FLUSH_TIME update_flush_count = lazy @@ -181,9 +183,7 @@ class ToolHead: def __init__(self, printer, config): self.printer = printer self.reactor = printer.reactor - self.extruder = printer.objects.get('extruder') - if self.extruder is None: - self.extruder = extruder.DummyExtruder() + self.extruder = extruder.DummyExtruder() kintypes = {'cartesian': cartesian.CartKinematics, 'corexy': corexy.CoreXYKinematics, 'delta': delta.DeltaKinematics} @@ -195,7 +195,8 @@ class ToolHead: , above=0., maxval=self.max_accel) self.junction_deviation = config.getfloat( 'junction_deviation', 0.02, above=0.) - self.move_queue = MoveQueue(self.extruder.lookahead) + self.move_queue = MoveQueue() + self.move_queue.set_extruder(self.extruder) self.commanded_pos = [0., 0., 0., 0.] # Print time tracking self.buffer_time_low = config.getfloat( @@ -223,7 +224,8 @@ class ToolHead: # before cornering. The 8. was determined experimentally. xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel) self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel) - self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel) + for e in extruder.get_printer_extruders(printer): + e.set_max_jerk(xy_halt, self.max_speed, self.max_accel) # Print time tracking def update_move_time(self, movetime): self.print_time += movetime @@ -363,6 +365,13 @@ class ToolHead: def query_endstops(self): last_move_time = self.get_last_move_time() return self.kin.query_endstops(last_move_time) + def set_extruder(self, extruder): + last_move_time = self.get_last_move_time() + self.extruder.set_active(last_move_time, False) + extrude_pos = extruder.set_active(last_move_time, True) + self.extruder = extruder + self.move_queue.set_extruder(extruder) + self.commanded_pos[3] = extrude_pos # Misc commands def stats(self, eventtime): buffer_time = 0. |