extruder_stepper: Initial support for synchronized extruder steppers

Signed-off-by: Simo Apell <simo.apell@live.fi>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2 files changed, 27 insertions, 0 deletions

diff --git a/klippy/extras/extruder_stepper.py b/klippy/extras/extruder_stepper.py
new file mode 100644
index 00000000..f6d0e9ea
--- /dev/null
+++ b/klippy/extras/extruder_stepper.py
@@ -0,0 +1,25 @@
+# Code for supporting multiple steppers in single filament extruder.
+#
+# Copyright (C) 2019 Simo Apell <simo.apell@live.fi>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import stepper
+
+class ExtruderStepper:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.extruder_name = config.get('extruder', 'extruder')
+        self.stepper = stepper.PrinterStepper(config)
+        self.stepper.set_max_jerk(9999999.9, 9999999.9)
+        self.stepper.setup_itersolve('extruder_stepper_alloc')
+        self.printer.register_event_handler("klippy:connect",
+                                            self.handle_connect)
+    def handle_connect(self):
+        extruder = self.printer.lookup_object(self.extruder_name)
+        self.stepper.set_trapq(extruder.get_trapq())
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.register_step_generator(self.stepper.generate_steps)
+
+def load_config_prefix(config):
+    return ExtruderStepper(config)
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index b5613c99..b4450596 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -95,6 +95,8 @@ class PrinterExtruder:
         return self.name
     def get_heater(self):
         return self.heater
+    def get_trapq(self):
+        return self.trapq
     def stats(self, eventtime):
         return self.heater.stats(eventtime)
     def check_move(self, move):