diff options
| -rw-r--r-- | klippy/gcode.py | 28 |
1 files changed, 16 insertions, 12 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 462639c2..3cbb1ae4 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -1,6 +1,6 @@ # Parse gcode commands # -# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import os, re, logging, collections, shlex @@ -50,6 +50,7 @@ class GCodeParser: self.base_position = [0.0, 0.0, 0.0, 0.0] self.last_position = [0.0, 0.0, 0.0, 0.0] self.homing_position = [0.0, 0.0, 0.0, 0.0] + self.speed = 25. self.speed_factor = 1. / 60. self.extrude_factor = 1. self.move_transform = self.move_with_transform = None @@ -58,7 +59,6 @@ class GCodeParser: self.need_ack = False self.toolhead = self.fan = self.extruder = None self.heaters = None - self.speed = 25. * 60. self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3} def register_command(self, cmd, func, when_not_ready=False, desc=None): if func is None: @@ -102,16 +102,20 @@ class GCodeParser: self.position_with_transform = transform.get_position def stats(self, eventtime): return False, "gcodein=%d" % (self.bytes_read,) - def _get_current_position(self): + def _get_gcode_position(self): p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)] p[3] /= self.extrude_factor return p + def _get_gcode_speed(self): + return self.speed / self.speed_factor + def _get_gcode_speed_override(self): + return self.speed_factor * 60. def get_status(self, eventtime): - move_position = self._get_current_position() + move_position = self._get_gcode_position() busy = self.is_processing_data return { - 'speed_factor': self.speed_factor * 60., - 'speed': self.speed, + 'speed_factor': self._get_gcode_speed_override(), + 'speed': self._get_gcode_speed(), 'extrude_factor': self.extrude_factor, 'abs_extrude': self.absoluteextrude, 'busy': busy, @@ -509,16 +513,15 @@ class GCodeParser: # value relative to base coordinate position self.last_position[3] = v + self.base_position[3] if 'F' in params: - speed = float(params['F']) - if speed <= 0.: + gcode_speed = float(params['F']) + if gcode_speed <= 0.: raise error("Invalid speed in '%s'" % ( params['#original'],)) - self.speed = speed + self.speed = gcode_speed * self.speed_factor except ValueError as e: raise error("Unable to parse move '%s'" % (params['#original'],)) try: - self.move_with_transform(self.last_position, - self.speed * self.speed_factor) + self.move_with_transform(self.last_position, self.speed) except homing.EndstopError as e: raise error(str(e)) def cmd_G4(self, params): @@ -582,11 +585,12 @@ class GCodeParser: cmd_M114_when_not_ready = True def cmd_M114(self, params): # Get Current Position - p = self._get_current_position() + p = self._get_gcode_position() self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p)) def cmd_M220(self, params): # Set speed factor override percentage value = self.get_float('S', params, 100., above=0.) / (60. * 100.) + self.speed = self._get_gcode_speed() * value self.speed_factor = value def cmd_M221(self, params): # Set extrude factor override percentage |