diff options
| -rw-r--r-- | klippy/gcode.py | 34 |
1 files changed, 17 insertions, 17 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 050377f0..99969d1d 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -43,7 +43,7 @@ class GCodeParser: self.absolutecoord = self.absoluteextrude = True self.base_position = [0.0, 0.0, 0.0, 0.0] self.last_position = [0.0, 0.0, 0.0, 0.0] - self.homing_add = [0.0, 0.0, 0.0, 0.0] + self.homing_position = [0.0, 0.0, 0.0, 0.0] self.speed_factor = 1. / 60. self.extrude_factor = 1. self.move_transform = self.move_with_transform = None @@ -119,10 +119,10 @@ class GCodeParser: out.append("Read %f: %s" % (eventtime, repr(data))) out.append( "gcode state: absolutecoord=%s absoluteextrude=%s" - " base_position=%s last_position=%s homing_add=%s" + " base_position=%s last_position=%s homing_position=%s" " speed_factor=%s extrude_factor=%s speed=%s" % ( self.absolutecoord, self.absoluteextrude, - self.base_position, self.last_position, self.homing_add, + self.base_position, self.last_position, self.homing_position, self.speed_factor, self.extrude_factor, self.speed)) logging.info("\n".join(out)) # Parse input into commands @@ -367,7 +367,7 @@ class GCodeParser: self.run_script(self.extruder.get_activate_gcode(True)) all_handlers = [ 'G1', 'G4', 'G28', 'M18', 'M400', - 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M206', 'M220', 'M221', + 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221', 'M206', 'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107', 'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION', 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] @@ -428,7 +428,7 @@ class GCodeParser: except homing.EndstopError as e: raise error(str(e)) for axis in homing_state.get_axes(): - self.base_position[axis] = -self.homing_add[axis] + self.base_position[axis] = self.homing_position[axis] self.reset_last_position() cmd_M18_aliases = ["M84"] def cmd_M18(self, params): @@ -469,13 +469,6 @@ class GCodeParser: p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)] p[3] /= self.extrude_factor self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p)) - def cmd_M206(self, params): - # Set home offset - offsets = { self.axis2pos[a]: self.get_float(a, params) - for a in 'XYZ' if a in params } - for p, offset in offsets.items(): - self.base_position[p] += self.homing_add[p] - offset - self.homing_add[p] = offset def cmd_M220(self, params): # Set speed factor override percentage value = self.get_float('S', params, 100.) / (60. * 100.) @@ -491,6 +484,13 @@ class GCodeParser: e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor self.base_position[3] = last_e_pos - e_value * new_extrude_factor self.extrude_factor = new_extrude_factor + def cmd_M206(self, params): + # Offset axes + offsets = { self.axis2pos[a]: self.get_float(a, params) + for a in 'XYZ' if a in params } + for p, offset in offsets.items(): + self.base_position[p] -= self.homing_position[p] + offset + self.homing_position[p] = -offset # G-Code temperature and fan commands cmd_M105_when_not_ready = True def cmd_M105(self, params): @@ -555,20 +555,20 @@ class GCodeParser: "XYZE", self.toolhead.get_position())]) gcode_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip("XYZE", self.last_position)]) - origin_pos = " ".join(["%s:%.6f" % (a, v) - for a, v in zip("XYZE", self.base_position)]) + base_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.base_position)]) homing_pos = " ".join(["%s:%.6f" % (a, v) - for a, v in zip("XYZE", self.homing_add)]) + for a, v in zip("XYZ", self.homing_position)]) self.respond_info( "mcu: %s\n" "stepper: %s\n" "kinematic: %s\n" "toolhead: %s\n" "gcode: %s\n" - "gcode origin: %s\n" + "gcode base: %s\n" "gcode homing: %s" % ( mcu_pos, stepper_pos, kinematic_pos, toolhead_pos, - gcode_pos, origin_pos, homing_pos)) + gcode_pos, base_pos, homing_pos)) def request_restart(self, result): if self.is_printer_ready: self.respond_info("Preparing to restart...") |