From 451f7d567223764c438d35fb54d68a6494e375e5 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 9 Mar 2018 21:43:24 -0500 Subject: gcode: Position returned by M114 should be relative to last G92 It looks like OctoPrint is expecting the result from M114 to be relative to the last G92 command. Also, introduce GET_POSITION to report the actual location that the printer is at. Signed-off-by: Kevin O'Connor --- klippy/gcode.py | 53 ++++++++++++++++++++++++++++++++++++++++------------- 1 file changed, 40 insertions(+), 13 deletions(-) (limited to 'klippy/gcode.py') diff --git a/klippy/gcode.py b/klippy/gcode.py index 4c1e4c83..dee03a16 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -367,9 +367,9 @@ class GCodeParser: self.run_script(self.extruder.get_activate_gcode(True)) all_handlers = [ 'G1', 'G4', 'G28', 'M18', 'M400', - 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220', 'M221', + 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M206', 'M220', 'M221', 'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107', - 'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', + 'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION', 'PID_TUNE', 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] # G-Code movement commands cmd_G1_aliases = ['G0'] @@ -463,6 +463,12 @@ class GCodeParser: self.base_position[p] = self.last_position[p] - offset if not offsets: self.base_position = list(self.last_position) + cmd_M114_when_not_ready = True + def cmd_M114(self, params): + # Get Current Position + p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)] + p[3] /= self.extrude_factor + self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p)) def cmd_M206(self, params): # Set home offset offsets = { self.axis2pos[a]: self.get_float(a, params) @@ -513,17 +519,6 @@ class GCodeParser: def cmd_M112(self, params): # Emergency Stop self.printer.invoke_shutdown("Shutdown due to M112 command") - cmd_M114_when_not_ready = True - def cmd_M114(self, params): - # Get Current Position - if self.toolhead is None: - self.cmd_default(params) - return - raw_pos = homing.query_position(self.toolhead) - self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % ( - self.last_position[0], self.last_position[1], - self.last_position[2], self.last_position[3], - " ".join(["%s:%d" % (n.upper(), p) for n, p in raw_pos]))) cmd_M115_when_not_ready = True def cmd_M115(self, params): # Get Firmware Version and Capabilities @@ -542,6 +537,38 @@ class GCodeParser: res = homing.query_endstops(self.toolhead) self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t]) for name, t in res])) + cmd_GET_POSITION_when_not_ready = True + def cmd_GET_POSITION(self, params): + if self.toolhead is None: + self.cmd_default(params) + return + kin = self.toolhead.get_kinematics() + steppers = kin.get_steppers() + mcu_pos = " ".join(["%s:%d" % (s.name, s.mcu_stepper.get_mcu_position()) + for s in steppers]) + stepper_pos = " ".join( + ["%s:%.6f" % (s.name, s.mcu_stepper.get_commanded_position()) + for s in steppers]) + kinematic_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", kin.get_position())]) + toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip( + "XYZE", self.toolhead.get_position())]) + gcode_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.last_position)]) + origin_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.base_position)]) + homing_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.homing_add)]) + self.respond_info( + "mcu: %s\n" + "stepper: %s\n" + "kinematic: %s\n" + "toolhead: %s\n" + "gcode: %s\n" + "gcode origin: %s\n" + "gcode homing: %s" % ( + mcu_pos, stepper_pos, kinematic_pos, toolhead_pos, + gcode_pos, origin_pos, homing_pos)) cmd_PID_TUNE_help = "Run PID Tuning" cmd_PID_TUNE_aliases = ["M303"] def cmd_PID_TUNE(self, params): -- cgit v1.2.3-70-g09d2