diff options
Diffstat (limited to 'klippy/gcode.py')
| -rw-r--r-- | klippy/gcode.py | 44 |
1 files changed, 32 insertions, 12 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 70d48a19..be500891 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -44,6 +44,7 @@ class GCodeParser: self.last_position = [0.0, 0.0, 0.0, 0.0] self.homing_add = [0.0, 0.0, 0.0, 0.0] self.speed_factor = 1. / 60. + self.extrude_factor = 1. # G-Code state self.need_ack = False self.toolhead = self.fan = self.extruder = None @@ -105,10 +106,10 @@ class GCodeParser: out.append( "gcode state: absolutecoord=%s absoluteextrude=%s" " base_position=%s last_position=%s homing_add=%s" - " speed_factor=%s speed=%s" % ( + " speed_factor=%s extrude_factor=%s speed=%s" % ( self.absolutecoord, self.absoluteextrude, self.base_position, self.last_position, self.homing_add, - self.speed_factor, self.speed)) + self.speed_factor, self.extrude_factor, self.speed)) logging.info("\n".join(out)) # Parse input into commands args_r = re.compile('([A-Z_]+|[A-Z*])') @@ -316,7 +317,7 @@ class GCodeParser: self.process_commands(activate_gcode.split('\n'), need_ack=False) all_handlers = [ 'G1', 'G4', 'G28', 'M18', 'M400', - 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220', + 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220', 'M221', 'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107', 'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] @@ -325,16 +326,24 @@ class GCodeParser: def cmd_G1(self, params): # Move try: - for a, p in self.axis2pos.items(): - if a in params: - v = float(params[a]) - if (not self.absolutecoord - or (p>2 and not self.absoluteextrude)): + for axis in 'XYZ': + if axis in params: + v = float(params[axis]) + pos = self.axis2pos[axis] + if not self.absolutecoord: # value relative to position of last move - self.last_position[p] += v + self.last_position[pos] += v else: # value relative to base coordinate position - self.last_position[p] = v + self.base_position[p] + self.last_position[pos] = v + self.base_position[pos] + if 'E' in params: + v = float(params['E']) * self.extrude_factor + if not self.absolutecoord or not self.absoluteextrude: + # value relative to position of last move + self.last_position[3] += v + else: + # value relative to base coordinate position + self.last_position[3] = v + self.base_position[3] if 'F' in params: speed = float(params['F']) * self.speed_factor if speed <= 0.: @@ -400,13 +409,15 @@ class GCodeParser: offsets = { p: self.get_float(a, params) for a, p in self.axis2pos.items() if a in params } for p, offset in offsets.items(): + if p == 3: + offset *= self.extrude_factor self.base_position[p] = self.last_position[p] - offset if not offsets: self.base_position = list(self.last_position) def cmd_M206(self, params): # Set home offset - offsets = { p: self.get_float(a, params) - for a, p in self.axis2pos.items() if a in params } + 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 @@ -416,6 +427,15 @@ class GCodeParser: if value <= 0.: raise error("Invalid factor in '%s'" % (params['#original'],)) self.speed_factor = value + def cmd_M221(self, params): + # Set extrude factor override percentage + new_extrude_factor = self.get_float('S', params, 100.) / 100. + if new_extrude_factor <= 0.: + raise error("Invalid factor in '%s'" % (params['#original'],)) + last_e_pos = self.last_position[3] + 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 # G-Code temperature and fan commands cmd_M105_when_not_ready = True def cmd_M105(self, params): |