diff options
| -rw-r--r-- | klippy/cartesian.py | 14 | ||||
| -rw-r--r-- | klippy/extruder.py | 2 | ||||
| -rw-r--r-- | klippy/toolhead.py | 22 |
3 files changed, 21 insertions, 17 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 860ce9fd..60fe9976 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -67,16 +67,17 @@ class CartKinematics: def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) def check_endstops(self, move): + end_pos = move.end_pos for i in StepList: if (move.axes_d[i] - and (move.pos[i] < self.limits[i][0] - or move.pos[i] > self.limits[i][1])): + and (end_pos[i] < self.limits[i][0] + or end_pos[i] > self.limits[i][1])): if self.limits[i][0] > self.limits[i][1]: - raise homing.EndstopError(move.pos, "Must home axis first") - raise homing.EndstopError(move.pos) + raise homing.EndstopError(end_pos, "Must home axis first") + raise homing.EndstopError(end_pos) def check_move(self, move): limits = self.limits - xpos, ypos = move.pos[:2] + xpos, ypos = move.end_pos[:2] if (xpos < limits[0][0] or xpos > limits[0][1] or ypos < limits[1][0] or ypos > limits[1][1]): self.check_endstops(move) @@ -96,7 +97,8 @@ class CartKinematics: inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: - new_step_pos = int(move.pos[i]*self.steppers[i].inv_step_dist + 0.5) + new_step_pos = int( + move.end_pos[i]*self.steppers[i].inv_step_dist + 0.5) steps = new_step_pos - self.stepper_pos[i] if not steps: continue diff --git a/klippy/extruder.py b/klippy/extruder.py index 94686fdd..8e9298c5 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -21,7 +21,7 @@ class PrinterExtruder: self.stepper.motor_enable(move_time, 0) def check_move(self, move): if not self.heater.can_extrude: - raise homing.EndstopError(move.pos, "Extrude below minimum temp") + raise homing.EndstopError(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]): diff --git a/klippy/toolhead.py b/klippy/toolhead.py index e73a2d15..1cda18df 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -14,12 +14,13 @@ EXTRUDE_DIFF_IGNORE = 1.02 # Class to track each move request class Move: - def __init__(self, toolhead, pos, axes_d, speed, accel): + def __init__(self, toolhead, start_pos, end_pos, speed, accel): self.toolhead = toolhead - self.pos = tuple(pos) - self.axes_d = axes_d + self.start_pos = tuple(start_pos) + self.end_pos = tuple(end_pos) self.accel = accel self.do_calc_junction = 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 move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) @@ -29,6 +30,10 @@ class Move: if not move_d: # Extrude only move move_d = abs(axes_d[3]) + if not move_d: + # No move + self.move_d = 0. + return self.do_calc_junction = False self.move_d = move_d self.extrude_r = axes_d[3] / move_d @@ -245,15 +250,12 @@ class ToolHead: self.commanded_pos[:] = newpos self.kin.set_position(newpos) def move(self, newpos, speed, sloppy=False): - axes_d = [newpos[i] - self.commanded_pos[i] - for i in (0, 1, 2, 3)] - if axes_d == [0., 0., 0., 0.]: - # No move - return speed = min(speed, self.max_speed) - move = Move(self, newpos, axes_d, speed, self.max_accel) + move = Move(self, self.commanded_pos, newpos, speed, self.max_accel) + if not move.move_d: + return self.kin.check_move(move) - if axes_d[3]: + if move.axes_d[3]: self.extruder.check_move(move) self.commanded_pos[:] = newpos self.move_queue.add_move(move) |