From 6a96e83ea923ebd0d3a84da218afda020b8b9612 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Tue, 25 Oct 2016 19:11:05 -0400
Subject: toolhead: Store both the start and end position in the Move class

Store the start position (in addition to the existing end position) in
the Move class.  The start position can be useful to the kinematic
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 klippy/toolhead.py | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

(limited to 'klippy/toolhead.py')

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)
-- 
cgit v1.2.3-70-g09d2