diff options
Diffstat (limited to 'klippy/gcode.py')
| -rw-r--r-- | klippy/gcode.py | 32 |
1 files changed, 16 insertions, 16 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index fc697b98..3ebd1afa 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -25,7 +25,7 @@ class GCodeParser: self.gcode_handlers = {} self.is_shutdown = False self.need_ack = False - self.kin = self.heater_nozzle = self.heater_bed = self.fan = None + self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None self.movemult = 1.0 self.speed = 1.0 self.absolutecoord = self.absoluteextrude = True @@ -34,7 +34,7 @@ class GCodeParser: self.homing_add = [0.0, 0.0, 0.0, 0.0] self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3} def build_config(self): - self.kin = self.printer.objects['kinematics'] + self.toolhead = self.printer.objects['toolhead'] self.heater_nozzle = self.printer.objects.get('heater_nozzle') self.heater_bed = self.printer.objects.get('heater_bed') self.fan = self.printer.objects.get('fan') @@ -62,7 +62,7 @@ class GCodeParser: self.reactor.run() def finish(self): self.reactor.end() - self.kin.motor_off() + self.toolhead.motor_off() logging.debug('Completed translation by klippy') def stats(self, eventtime): return "gcodein=%d" % (self.bytes_read,) @@ -103,8 +103,8 @@ class GCodeParser: # Check if machine can process next command or must stall input if self.busy_state is not None: break - if self.kin.check_busy(eventtime): - self.set_busy(self.kin) + if self.toolhead.check_busy(eventtime): + self.set_busy(self.toolhead) break self.ack() del self.input_commands[:i+1] @@ -142,7 +142,7 @@ class GCodeParser: def busy_handler(self, eventtime): busy = self.busy_state.check_busy(eventtime) if busy: - self.kin.reset_motor_off_time(eventtime) + self.toolhead.reset_motor_off_time(eventtime) return eventtime + self.RETRY_TIME self.busy_state = None self.ack() @@ -179,7 +179,7 @@ class GCodeParser: return self.set_busy(temp_busy_handler_wrapper()) def set_temp(self, heater, params, wait=False): - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() temp = float(params.get('S', '0')) heater.set_temp(print_time, temp) if wait: @@ -209,14 +209,14 @@ class GCodeParser: self.last_position[p] = v + self.base_position[p] if 'F' in params: self.speed = float(params['F']) / 60. - self.kin.move(self.last_position, self.speed, sloppy) + self.toolhead.move(self.last_position, self.speed, sloppy) def cmd_G4(self, params): # Dwell if 'S' in params: delay = float(params['S']) else: delay = float(params.get('P', '0')) / 1000. - self.kin.dwell(delay) + self.toolhead.dwell(delay) def cmd_G20(self, params): # Set units to inches self.movemult = 25.4 @@ -231,9 +231,9 @@ class GCodeParser: axis.append(self.axis2pos[a]) if not axis: axis = [0, 1, 2] - busy_handler = self.kin.home(axis) + busy_handler = self.toolhead.home(axis) def axis_update(axis): - newpos = self.kin.get_position() + newpos = self.toolhead.get_position() for a in axis: self.last_position[a] = newpos[a] self.base_position[a] = -self.homing_add[a] @@ -262,10 +262,10 @@ class GCodeParser: self.absoluteextrude = False def cmd_M18(self, params): # Turn off motors - self.kin.motor_off() + self.toolhead.motor_off() def cmd_M84(self, params): # Stop idle hold - self.kin.motor_off() + self.toolhead.motor_off() def cmd_M105(self, params): # Get Extruder Temperature self.ack(self.get_temp()) @@ -280,7 +280,7 @@ class GCodeParser: pass def cmd_M114(self, params): # Get Current Position - kinpos = self.kin.get_position() + kinpos = self.toolhead.get_position() self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count X:%.3f Y:%.3f Z:%.3f" % ( self.last_position[0], self.last_position[1], self.last_position[2], self.last_position[3], @@ -293,11 +293,11 @@ class GCodeParser: self.set_temp(self.heater_bed, params, wait=True) def cmd_M106(self, params): # Set fan speed - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() self.fan.set_speed(print_time, float(params.get('S', '255')) / 255.) def cmd_M107(self, params): # Turn fan off - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() self.fan.set_speed(print_time, 0) def cmd_M206(self, params): # Set home offset |