diff options
Diffstat (limited to 'klippy/extras/manual_stepper.py')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 24 |
1 files changed, 19 insertions, 5 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 9f21cc8d..1465590d 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -55,17 +55,20 @@ class ManualStepper: self.sync_print_time() def do_set_position(self, setpos): self.rail.set_position([setpos, 0., 0.]) - def do_move(self, movepos, speed, accel, sync=True): - self.sync_print_time() + def _submit_move(self, movetime, movepos, speed, accel): cp = self.rail.get_commanded_position() dist = movepos - cp axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time( dist, speed, accel) - self.trapq_append(self.trapq, self.next_cmd_time, + self.trapq_append(self.trapq, movetime, accel_t, cruise_t, accel_t, cp, 0., 0., axis_r, 0., 0., 0., cruise_v, accel) - self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t + return movetime + accel_t + cruise_t + accel_t + def do_move(self, movepos, speed, accel, sync=True): + self.sync_print_time() + self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos, + speed, accel) self.rail.generate_steps(self.next_cmd_time) self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9, self.next_cmd_time + 99999.9) @@ -117,7 +120,18 @@ class ManualStepper: def dwell(self, delay): self.next_cmd_time += max(0., delay) def drip_move(self, newpos, speed, drip_completion): - self.do_move(newpos[0], speed, self.homing_accel) + # Submit move to trapq + self.sync_print_time() + maxtime = self._submit_move(self.next_cmd_time, newpos[0], + speed, self.homing_accel) + # Drip updates to motors + toolhead = self.printer.lookup_object('toolhead') + toolhead.drip_update_time(maxtime, drip_completion, self.steppers) + # Clear trapq of any remaining parts of movement + reactor = self.printer.get_reactor() + self.trapq_finalize_moves(self.trapq, reactor.NEVER, 0) + self.rail.set_position([newpos[0], 0., 0.]) + self.sync_print_time() def get_kinematics(self): return self def get_steppers(self): |