diff options
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/force_move.py | 47 |
1 files changed, 24 insertions, 23 deletions
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index 6c4a6025..647b0b33 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -41,15 +41,15 @@ class ForceMove: ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free) ffi_lib.itersolve_set_trapq(self.stepper_kinematics, self.trapq) # Register commands - self.gcode = self.printer.lookup_object('gcode') - self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ, - desc=self.cmd_STEPPER_BUZZ_help) + gcode = self.printer.lookup_object('gcode') + gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ, + desc=self.cmd_STEPPER_BUZZ_help) if config.getboolean("enable_force_move", False): - self.gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE, - desc=self.cmd_FORCE_MOVE_help) - self.gcode.register_command( - 'SET_KINEMATIC_POSITION', self.cmd_SET_KINEMATIC_POSITION, - desc=self.cmd_SET_KINEMATIC_POSITION_help) + gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE, + desc=self.cmd_FORCE_MOVE_help) + gcode.register_command('SET_KINEMATIC_POSITION', + self.cmd_SET_KINEMATIC_POSITION, + desc=self.cmd_SET_KINEMATIC_POSITION_help) def register_stepper(self, stepper): name = stepper.get_name() self.steppers[name] = stepper @@ -91,14 +91,14 @@ class ForceMove: stepper.set_stepper_kinematics(prev_sk) toolhead.note_kinematic_activity(print_time) toolhead.dwell(accel_t + cruise_t + accel_t) - def _lookup_stepper(self, params): - name = self.gcode.get_str('STEPPER', params) + def _lookup_stepper(self, gcmd): + name = gcmd.get('STEPPER') if name not in self.steppers: - raise self.gcode.error("Unknown stepper %s" % (name,)) + raise gcmd.error("Unknown stepper %s" % (name,)) return self.steppers[name] cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it" - def cmd_STEPPER_BUZZ(self, params): - stepper = self._lookup_stepper(params) + def cmd_STEPPER_BUZZ(self, gcmd): + stepper = self._lookup_stepper(gcmd) logging.info("Stepper buzz %s", stepper.get_name()) was_enable = self.force_enable(stepper) toolhead = self.printer.lookup_object('toolhead') @@ -112,26 +112,27 @@ class ForceMove: toolhead.dwell(.450) self.restore_enable(stepper, was_enable) cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics" - def cmd_FORCE_MOVE(self, params): - stepper = self._lookup_stepper(params) - distance = self.gcode.get_float('DISTANCE', params) - speed = self.gcode.get_float('VELOCITY', params, above=0.) - accel = self.gcode.get_float('ACCEL', params, 0., minval=0.) + def cmd_FORCE_MOVE(self, gcmd): + stepper = self._lookup_stepper(gcmd) + distance = gcmd.get_float('DISTANCE') + speed = gcmd.get_float('VELOCITY', above=0.) + accel = gcmd.get_float('ACCEL', 0., minval=0.) logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f", stepper.get_name(), distance, speed, accel) self.force_enable(stepper) self.manual_move(stepper, distance, speed, accel) cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position" - def cmd_SET_KINEMATIC_POSITION(self, params): + def cmd_SET_KINEMATIC_POSITION(self, gcmd): toolhead = self.printer.lookup_object('toolhead') toolhead.get_last_move_time() curpos = toolhead.get_position() - x = self.gcode.get_float('X', params, curpos[0]) - y = self.gcode.get_float('Y', params, curpos[1]) - z = self.gcode.get_float('Z', params, curpos[2]) + x = gcmd.get_float('X', curpos[0]) + y = gcmd.get_float('Y', curpos[1]) + z = gcmd.get_float('Z', curpos[2]) logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z) toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2)) - self.gcode.reset_last_position() + gcode = self.printer.lookup_object('gcode') + gcode.reset_last_position() def load_config(config): return ForceMove(config) |