diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 22 |
1 files changed, 12 insertions, 10 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index e73a2d15..1cda18df 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -14,12 +14,13 @@ EXTRUDE_DIFF_IGNORE = 1.02 # Class to track each move request class Move: - def __init__(self, toolhead, pos, axes_d, speed, accel): + def __init__(self, toolhead, start_pos, end_pos, speed, accel): self.toolhead = toolhead - self.pos = tuple(pos) - self.axes_d = axes_d + self.start_pos = tuple(start_pos) + self.end_pos = tuple(end_pos) self.accel = accel self.do_calc_junction = True + self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)] if axes_d[2]: # Move with Z move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) @@ -29,6 +30,10 @@ class Move: if not move_d: # Extrude only move move_d = abs(axes_d[3]) + if not move_d: + # No move + self.move_d = 0. + return self.do_calc_junction = False self.move_d = move_d self.extrude_r = axes_d[3] / move_d @@ -245,15 +250,12 @@ class ToolHead: self.commanded_pos[:] = newpos self.kin.set_position(newpos) def move(self, newpos, speed, sloppy=False): - axes_d = [newpos[i] - self.commanded_pos[i] - for i in (0, 1, 2, 3)] - if axes_d == [0., 0., 0., 0.]: - # No move - return speed = min(speed, self.max_speed) - move = Move(self, newpos, axes_d, speed, self.max_accel) + move = Move(self, self.commanded_pos, newpos, speed, self.max_accel) + if not move.move_d: + return self.kin.check_move(move) - if axes_d[3]: + if move.axes_d[3]: self.extruder.check_move(move) self.commanded_pos[:] = newpos self.move_queue.add_move(move) |