diff options
| -rw-r--r-- | docs/G-Codes.md | 15 | ||||
| -rw-r--r-- | klippy/extras/extruder_stepper.py | 29 | ||||
| -rw-r--r-- | klippy/kinematics/extruder.py | 31 |
3 files changed, 33 insertions, 42 deletions
diff --git a/docs/G-Codes.md b/docs/G-Codes.md index b4cb63a3..119f1fbb 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -182,6 +182,11 @@ The following standard commands are supported: result in excessive pressure between extruder and hot end. Do proper calibration steps with filament before use. If 'DISTANCE' value is not included command will return current step distance. +- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> [EXTRUDER=<name>]`: This + command will cause the given extruder STEPPER (as specified in an + [extruder](Config_Reference#extruder) or + [extruder stepper](Config_Reference#extruder_stepper) config + section) to become synchronized to the given EXTRUDER. - `SET_STEPPER_ENABLE STEPPER=<config_name> ENABLE=[0|1]`: Enable or disable only the given stepper. This is a diagnostic and debugging tool and must be used with care. Disabling an axis motor does not @@ -344,16 +349,6 @@ enabled: future G-Code movement commands may run in parallel with the stepper movement. -### Extruder stepper Commands - -The following command is available when an -[extruder_stepper config section](Config_Reference.md#extruder_stepper) -is enabled: -- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<extruder_stepper config_name> - [EXTRUDER=<extruder config_name>]`: This command will cause the given - STEPPER to become synchronized to the given EXTRUDER, overriding - the extruder defined in the "extruder_stepper" config section. - ### Probe The following commands are available when a diff --git a/klippy/extras/extruder_stepper.py b/klippy/extras/extruder_stepper.py index a62b3f83..40b394ce 100644 --- a/klippy/extras/extruder_stepper.py +++ b/klippy/extras/extruder_stepper.py @@ -4,36 +4,17 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging -import stepper +from kinematics import extruder -class ExtruderStepper: +class PrinterExtruderStepper: def __init__(self, config): self.printer = config.get_printer() - stepper_name = config.get_name().split()[1] + self.extruder_stepper = extruder.ExtruderStepper(config) self.extruder_name = config.get('extruder', 'extruder') - self.stepper = stepper.PrinterStepper(config) - self.stepper.setup_itersolve('extruder_stepper_alloc') self.printer.register_event_handler("klippy:connect", self.handle_connect) - gcode = self.printer.lookup_object('gcode') - gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER", - stepper_name, - self.cmd_SYNC_STEPPER_TO_EXTRUDER, - desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help) def handle_connect(self): - extruder = self.printer.lookup_object(self.extruder_name) - extruder.sync_stepper(self.stepper) - toolhead = self.printer.lookup_object('toolhead') - toolhead.register_step_generator(self.stepper.generate_steps) - cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper" - def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd): - ename = gcmd.get('EXTRUDER') - extruder = self.printer.lookup_object(ename, None) - if extruder is None: - raise gcmd.error("'%s' is not a valid extruder." % (ename,)) - extruder.sync_stepper(self.stepper) - self.extruder_name = ename - gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,)) + self.extruder_stepper.sync_to_extruder(self.extruder_name) def load_config_prefix(config): - return ExtruderStepper(config) + return PrinterExtruderStepper(config) diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py index c042a2dd..e3db152b 100644 --- a/klippy/kinematics/extruder.py +++ b/klippy/kinematics/extruder.py @@ -9,7 +9,7 @@ import stepper, chelper class ExtruderStepper: def __init__(self, config): self.printer = config.get_printer() - self.name = config.get_name() + self.name = config.get_name().split()[-1] self.pressure_advance = self.pressure_advance_smooth_time = 0. # Setup stepper self.stepper = stepper.PrinterStepper(config) @@ -17,9 +17,9 @@ class ExtruderStepper: self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(), ffi_lib.free) self.stepper.set_stepper_kinematics(self.sk_extruder) - toolhead = self.printer.lookup_object('toolhead') - toolhead.register_step_generator(self.stepper.generate_steps) # Register commands + self.printer.register_event_handler("klippy:connect", + self._handle_connect) gcode = self.printer.lookup_object('gcode') if self.name == 'extruder': gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None, @@ -31,12 +31,27 @@ class ExtruderStepper: gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER", self.name, self.cmd_SET_E_STEP_DISTANCE, desc=self.cmd_SET_E_STEP_DISTANCE_help) + gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER", + self.name, self.cmd_SYNC_STEPPER_TO_EXTRUDER, + desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help) + def _handle_connect(self): + toolhead = self.printer.lookup_object('toolhead') + toolhead.register_step_generator(self.stepper.generate_steps) def get_status(self, eventtime): return {'pressure_advance': self.pressure_advance, 'smooth_time': self.pressure_advance_smooth_time} def find_past_position(self, print_time): mcu_pos = self.stepper.get_past_mcu_position(print_time) return self.stepper.mcu_to_commanded_position(mcu_pos) + def sync_to_extruder(self, extruder_name): + extruder = self.printer.lookup_object(extruder_name, None) + if extruder is None or not isinstance(extruder, PrinterExtruder): + raise self.printer.command_error("'%s' is not a valid extruder." + % (extruder_name,)) + toolhead = self.printer.lookup_object('toolhead') + toolhead.flush_step_generation() + self.stepper.set_position([extruder.last_position, 0., 0.]) + self.stepper.set_trapq(extruder.get_trapq()) def _set_pressure_advance(self, pressure_advance, smooth_time): old_smooth_time = self.pressure_advance_smooth_time if not self.pressure_advance: @@ -81,6 +96,11 @@ class ExtruderStepper: self.stepper.set_step_dist(dist) gcmd.respond_info("Extruder '%s' step distance set to %0.6f" % (self.name, dist)) + cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper" + def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd): + ename = gcmd.get('EXTRUDER') + self.sync_to_extruder(ename) + gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,)) # Tracking for hotend heater, extrusion motion queue, and extruder stepper class PrinterExtruder: @@ -153,11 +173,6 @@ class PrinterExtruder: return self.heater def get_trapq(self): return self.trapq - def sync_stepper(self, stepper): - toolhead = self.printer.lookup_object('toolhead') - toolhead.flush_step_generation() - stepper.set_position([self.last_position, 0., 0.]) - stepper.set_trapq(self.trapq) def stats(self, eventtime): return self.heater.stats(eventtime) def check_move(self, move): |