diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 25 |
1 files changed, 14 insertions, 11 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index edb8f851..1cff9ef3 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import cartesian, corexy, delta, extruder +import homing, cartesian, corexy, delta, extruder # Common suffixes: _d is distance (in mm), _v is velocity (in # mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in @@ -183,6 +183,7 @@ class ToolHead: def __init__(self, printer, config): self.printer = printer self.reactor = printer.reactor + self.mcu = printer.objects['mcu'] self.extruder = extruder.DummyExtruder() kintypes = {'cartesian': cartesian.CartKinematics, 'corexy': corexy.CoreXYKinematics, @@ -230,19 +231,19 @@ class ToolHead: def update_move_time(self, movetime): self.print_time += movetime flush_to_time = self.print_time - self.move_flush_time - self.printer.mcu.flush_moves(flush_to_time) + self.mcu.flush_moves(flush_to_time) def get_next_move_time(self): if self.synch_print_time: curtime = self.reactor.monotonic() if self.print_time: - buffer_time = self.printer.mcu.get_print_buffer_time( + buffer_time = self.mcu.get_print_buffer_time( curtime, self.print_time) self.print_time += max(self.buffer_time_start - buffer_time, 0.) if self.forced_synch: self.print_stall += 1 self.forced_synch = False else: - self.printer.mcu.set_print_start_time(curtime) + self.mcu.set_print_start_time(curtime) self.print_time = self.buffer_time_start self._reset_motor_off() self.reactor.update_timer(self.flush_timer, self.reactor.NOW) @@ -254,7 +255,7 @@ class ToolHead: if synch_print_time or must_synch: self.synch_print_time = True self.move_queue.set_flush_time(self.buffer_time_high) - self.printer.mcu.flush_moves(self.print_time) + self.mcu.flush_moves(self.print_time) def get_last_move_time(self): self._flush_lookahead() return self.get_next_move_time() @@ -273,7 +274,7 @@ class ToolHead: return # Check if there are lots of queued moves and stall if so while 1: - buffer_time = self.printer.mcu.get_print_buffer_time( + buffer_time = self.mcu.get_print_buffer_time( eventtime, self.print_time) stall_time = buffer_time - self.buffer_time_high if stall_time <= 0.: @@ -290,8 +291,7 @@ class ToolHead: if not self.print_time: return self.reactor.NEVER print_time = self.print_time - buffer_time = self.printer.mcu.get_print_buffer_time( - eventtime, print_time) + buffer_time = self.mcu.get_print_buffer_time(eventtime, print_time) if buffer_time > self.buffer_time_low: # Running normally - reschedule check return eventtime + buffer_time - self.buffer_time_low @@ -366,7 +366,10 @@ class ToolHead: eventtime = self.reactor.pause(eventtime + 0.100) def query_endstops(self): last_move_time = self.get_last_move_time() - return self.kin.query_endstops(last_move_time) + try: + return self.kin.query_endstops(last_move_time) + except self.mcu.error as e: + raise homing.EndstopError(str(e)) def set_extruder(self, extruder): last_move_time = self.get_last_move_time() self.extruder.set_active(last_move_time, False) @@ -380,7 +383,7 @@ class ToolHead: print_time = self.print_time if print_time: is_active = True - buffer_time = max(0., self.printer.mcu.get_print_buffer_time( + buffer_time = max(0., self.mcu.get_print_buffer_time( eventtime, print_time)) else: is_active = eventtime < self.last_print_end_time + 60. @@ -388,7 +391,7 @@ class ToolHead: print_time, buffer_time, self.print_stall) def force_shutdown(self): try: - self.printer.mcu.force_shutdown() + self.mcu.force_shutdown() self.move_queue.reset() self.reset_print_time() except: |