mirror of https://github.com/Desuuuu/klipper.git
loop_sdcard: Add loopable SD card file sections
To support continuous belt printing, add nestable repeat loop support via an `[sdcard_loop]` module. Supported G-Code: - SDCARD_LOOP_BEGIN COUNT=n ; Loop for N times, or infinitely if N is 0 - SDCARD_LOOP_END ; End of loop - SDCARD_LOOP_DESIST ; Complete all loops without iterating Marlin M808 compatibility example in `config/sample-macros.cfg`: - M808 Ln ; Loop for N times, or infinitely if N is 0 - M808 ; End of loop - M808 K ; Complete all loops without iterating Added unit tests in test/klippy/sdcard_loop.test See https://reprap.org/wiki/G-code#M808:_Set_or_Goto_Repeat_Marker Signed-off-by: Jason S. McMullan <jason.mcmullan@gmail.com>
This commit is contained in:
Jason S. McMullan
KevinOConnor
parent
4ea434796b
commit
913649de2e
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@ -176,3 +176,15 @@ gcode:
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"Humidity: %.2f%%" % (
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sensor.temperature,
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sensor.humidity))}
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# SDCard 'looping' (aka Marlin M808 commands) support
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#
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# Support SDCard looping
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[sdcard_loop]
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# 'Marlin' style M808 compatibility macro for SDCard looping
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[gcode_macro M808]
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gcode:
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{% if params.K is not defined and params.L is defined %}SDCARD_LOOP_BEGIN COUNT={params.L|int}{% endif %}
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{% if params.K is not defined and params.L is not defined %}SDCARD_LOOP_END{% endif %}
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{% if params.K is defined and params.L is not defined %}SDCARD_LOOP_DESIST{% endif %}
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@ -1312,6 +1312,20 @@ path:
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# be provided.
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```
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## [sdcard_loop]
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Some printers with stage-clearing features, such as a part ejector or
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a belt printer, can find use in looping sections of the sdcard file.
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(For example, to print the same part over and over, or repeat the
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a section of a part for a chain or other repeated pattern).
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See the `config/sample-macros.cfg` file for a Marlin compatible M808
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G-Code macro.
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```
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[sdcard_loop]
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```
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## [force_move]
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Support manually moving stepper motors for diagnostic purposes. Note,
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@ -66,6 +66,13 @@ In addition, the following extended commands are availble when the
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- Load a file and start SD print: `SDCARD_PRINT_FILE FILENAME=<filename>`
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- Unload file and clear SD state: `SDCARD_RESET_FILE`
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When the [sdcard_loop config section](Config_Reference.md#sdcard_loop) is
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enabled, the following extended commands are available.
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- Begin a looped section in the SD print: `SDCARD_LOOP_BEGIN COUNT=<count>`
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- A count of 0 indicates that the section should be looped indefinately.
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- End a looped section in the SD print: `SDCARD_LOOP_END`
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- Complete existing loops without further iterations: `SDCARD_LOOP_DESIST`
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## G-Code arcs
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The following standard G-Code commands are available if a
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@ -0,0 +1,73 @@
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# Sdcard file looping support
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#
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# Copyright (C) 2021 Jason S. McMullan <jason.mcmullan@gmail.com>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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class SDCardLoop:
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def __init__(self, config):
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printer = config.get_printer()
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self.sdcard = printer.load_object(config, "virtual_sdcard")
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self.gcode = printer.lookup_object('gcode')
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self.gcode.register_command(
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"SDCARD_LOOP_BEGIN", self.cmd_SDCARD_LOOP_BEGIN,
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desc=self.cmd_SDCARD_LOOP_BEGIN_help)
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self.gcode.register_command(
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"SDCARD_LOOP_END", self.cmd_SDCARD_LOOP_END,
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desc=self.cmd_SDCARD_LOOP_END_help)
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self.gcode.register_command(
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"SDCARD_LOOP_DESIST", self.cmd_SDCARD_LOOP_DESIST,
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desc=self.cmd_SDCARD_LOOP_DESIST_help)
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self.loop_stack = []
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cmd_SDCARD_LOOP_BEGIN_help = "Begins a looped section in the SD file."
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def cmd_SDCARD_LOOP_BEGIN(self, gcmd):
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count = gcmd.get_int("COUNT", minval=0)
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if not self.loop_begin(count):
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raise gcmd.error("Only permitted in SD file.")
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cmd_SDCARD_LOOP_END_help = "Ends a looped section in the SD file."
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def cmd_SDCARD_LOOP_END(self, gcmd):
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if not self.loop_end():
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raise gcmd.error("Only permitted in SD file.")
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cmd_SDCARD_LOOP_DESIST_help = "Stops iterating the current loop stack."
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def cmd_SDCARD_LOOP_DESIST(self, gcmd):
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if not self.loop_desist():
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raise gcmd.error("Only permitted outside of a SD file.")
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def loop_begin(self, count):
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if not self.sdcard.is_cmd_from_sd():
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# Can only run inside of an SD file
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return False
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self.loop_stack.append((count, self.sdcard.get_file_position()))
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return True
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def loop_end(self):
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if not self.sdcard.is_cmd_from_sd():
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# Can only run inside of an SD file
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return False
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# If the stack is empty, no need to skip back
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if len(self.loop_stack) == 0:
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return True
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# Get iteration count and return position
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count, position = self.loop_stack.pop()
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if count == 0: # Infinite loop
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self.sdcard.set_file_position(position)
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self.loop_stack.append((0, position))
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elif count == 1: # Last repeat
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# Nothing to do
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pass
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else:
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# At the next opportunity, seek back to the start of the loop
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self.sdcard.set_file_position(position)
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# Decrement the count by 1, and add the position back to the stack
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self.loop_stack.append((count - 1, position))
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return True
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def loop_desist(self):
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if self.sdcard.is_cmd_from_sd():
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# Can only run outside of an SD file
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return False
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logging.info("Desisting existing SD loops")
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self.loop_stack = []
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return True
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def load_config(config):
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return SDCardLoop(config)
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@ -21,6 +21,7 @@ class VirtualSD:
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# Work timer
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self.reactor = printer.get_reactor()
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self.must_pause_work = self.cmd_from_sd = False
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self.next_file_position = 0
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self.work_timer = None
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# Register commands
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self.gcode = printer.lookup_object('gcode')
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@ -124,7 +125,7 @@ class VirtualSD:
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if filename[0] == '/':
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filename = filename[1:]
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self._load_file(gcmd, filename, check_subdirs=True)
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self.cmd_M24(gcmd)
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self.do_resume()
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def cmd_M20(self, gcmd):
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# List SD card
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files = self.get_file_list()
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@ -191,6 +192,12 @@ class VirtualSD:
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return
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gcmd.respond_raw("SD printing byte %d/%d"
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% (self.file_position, self.file_size))
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def get_file_position(self):
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return self.next_file_position
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def set_file_position(self, pos):
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self.next_file_position = pos
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def is_cmd_from_sd(self):
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return self.cmd_from_sd
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# Background work timer
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def work_handler(self, eventtime):
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logging.info("Starting SD card print (position %d)", self.file_position)
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@ -232,8 +239,11 @@ class VirtualSD:
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continue
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# Dispatch command
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self.cmd_from_sd = True
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line = lines.pop()
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next_file_position = self.file_position + len(line) + 1
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self.next_file_position = next_file_position
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try:
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self.gcode.run_script(lines[-1])
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self.gcode.run_script(line)
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except self.gcode.error as e:
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self.print_stats.note_error(str(e))
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break
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@ -241,7 +251,17 @@ class VirtualSD:
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logging.exception("virtual_sdcard dispatch")
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break
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self.cmd_from_sd = False
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self.file_position += len(lines.pop()) + 1
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self.file_position = self.next_file_position
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# Do we need to skip around?
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if self.next_file_position != next_file_position:
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try:
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self.current_file.seek(self.file_position)
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except:
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logging.exception("virtual_sdcard seek")
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self.work_timer = None
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return self.reactor.NEVER
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lines = []
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partial_input = ""
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logging.info("Exiting SD card print (position %d)", self.file_position)
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self.work_timer = None
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self.cmd_from_sd = False
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# Test config for sdcard_loop
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[virtual_sdcard]
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path: test/klippy/sdcard_loop
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[display_status]
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# Override to support unlimited belt size
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# (homing Z simply resets its virtual position to 0.0)
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[homing_override]
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axes: xyz
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set_position_x: 0
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set_position_y: 0
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set_position_z: 0
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gcode:
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G92 X0 Y0 Z0
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[stepper_x]
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step_pin: ar54
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dir_pin: ar55
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enable_pin: !ar38
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step_distance: .0125
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endstop_pin: ^ar3
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: ar60
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dir_pin: !ar61
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enable_pin: !ar56
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step_distance: .0125
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endstop_pin: ^ar14
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_z]
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step_pin: ar46
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dir_pin: ar48
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enable_pin: !ar62
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step_distance: .0025
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endstop_pin: ^ar18
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position_endstop: 0.5
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position_max: 200000000
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[extruder]
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step_pin: ar26
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dir_pin: ar28
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enable_pin: !ar24
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step_distance: .004242
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nozzle_diameter: 0.500
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filament_diameter: 3.500
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heater_pin: ar10
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: analog13
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 210
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[heater_bed]
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heater_pin: ar8
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: analog14
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control: watermark
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min_temp: 0
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max_temp: 110
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[mcu]
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serial: /dev/ttyACM0
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pin_map: arduino
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[printer]
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kinematics: cartesian
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 5
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max_z_accel: 100
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[sdcard_loop]
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[gcode_macro M808]
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gcode:
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{% if params.K is not defined and params.L is defined %}SDCARD_LOOP_BEGIN COUNT={params.L|int}{% endif %}
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{% if params.K is not defined and params.L is not defined %}SDCARD_LOOP_END{% endif %}
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{% if params.K is defined and params.L is not defined %}SDCARD_LOOP_DESIST{% endif %}
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; Virtual SD card unit tests
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DICTIONARY atmega2560.dict
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CONFIG sdcard_loop.cfg
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G28
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SDCARD_LOOP_DESIST
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; Verify long-name functions
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SDCARD_PRINT_FILE FILENAME=big.gcode
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@ -0,0 +1,350 @@
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; Large example, to test M808 looping with `partial_data`
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M808 L20
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; Looping
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G92 E0
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G91
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G1 E1 ; This is line 0
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G1 E1 ; This is line 1
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G1 E1 ; This is line 2
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G1 E1 ; This is line 3
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G1 E1 ; This is line 145
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G1 E1 ; This is line 146
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G1 E1 ; This is line 147
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G1 E1 ; This is line 148
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G1 E1 ; This is line 149
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G1 E1 ; This is line 150
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G1 E1 ; This is line 151
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G1 E1 ; This is line 152
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G1 E1 ; This is line 153
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G1 E1 ; This is line 154
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G1 E1 ; This is line 155
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G1 E1 ; This is line 156
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G1 E1 ; This is line 157
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G1 E1 ; This is line 158
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G1 E1 ; This is line 159
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G1 E1 ; This is line 160
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G1 E1 ; This is line 161
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G1 E1 ; This is line 162
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G1 E1 ; This is line 163
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G1 E1 ; This is line 164
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G1 E1 ; This is line 165
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G1 E1 ; This is line 166
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G1 E1 ; This is line 167
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G1 E1 ; This is line 168
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G1 E1 ; This is line 169
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G1 E1 ; This is line 170
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G1 E1 ; This is line 171
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G1 E1 ; This is line 172
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G1 E1 ; This is line 173
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G1 E1 ; This is line 174
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G1 E1 ; This is line 175
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G1 E1 ; This is line 176
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G1 E1 ; This is line 177
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G1 E1 ; This is line 178
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G1 E1 ; This is line 179
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G1 E1 ; This is line 180
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G1 E1 ; This is line 181
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G1 E1 ; This is line 182
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G1 E1 ; This is line 183
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G1 E1 ; This is line 184
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G1 E1 ; This is line 185
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G1 E1 ; This is line 186
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G1 E1 ; This is line 187
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G1 E1 ; This is line 188
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G1 E1 ; This is line 189
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G1 E1 ; This is line 190
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G1 E1 ; This is line 191
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G1 E1 ; This is line 192
|
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G1 E1 ; This is line 193
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G1 E1 ; This is line 194
|
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G1 E1 ; This is line 195
|
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G1 E1 ; This is line 196
|
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G1 E1 ; This is line 197
|
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G1 E1 ; This is line 198
|
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G1 E1 ; This is line 199
|
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G1 E1 ; This is line 200
|
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G1 E1 ; This is line 201
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G1 E1 ; This is line 202
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G1 E1 ; This is line 203
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G1 E1 ; This is line 204
|
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G1 E1 ; This is line 205
|
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G1 E1 ; This is line 206
|
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G1 E1 ; This is line 207
|
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G1 E1 ; This is line 208
|
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G1 E1 ; This is line 209
|
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G1 E1 ; This is line 210
|
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G1 E1 ; This is line 211
|
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G1 E1 ; This is line 212
|
||||
G1 E1 ; This is line 213
|
||||
G1 E1 ; This is line 214
|
||||
G1 E1 ; This is line 215
|
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G1 E1 ; This is line 216
|
||||
G1 E1 ; This is line 217
|
||||
G1 E1 ; This is line 218
|
||||
G1 E1 ; This is line 219
|
||||
G1 E1 ; This is line 220
|
||||
G1 E1 ; This is line 221
|
||||
G1 E1 ; This is line 222
|
||||
G1 E1 ; This is line 223
|
||||
G1 E1 ; This is line 224
|
||||
G1 E1 ; This is line 225
|
||||
G1 E1 ; This is line 226
|
||||
G1 E1 ; This is line 227
|
||||
G1 E1 ; This is line 228
|
||||
G1 E1 ; This is line 229
|
||||
G1 E1 ; This is line 230
|
||||
G1 E1 ; This is line 231
|
||||
G1 E1 ; This is line 232
|
||||
G1 E1 ; This is line 233
|
||||
G1 E1 ; This is line 234
|
||||
G1 E1 ; This is line 235
|
||||
G1 E1 ; This is line 236
|
||||
G1 E1 ; This is line 237
|
||||
G1 E1 ; This is line 238
|
||||
G1 E1 ; This is line 239
|
||||
G1 E1 ; This is line 240
|
||||
G1 E1 ; This is line 241
|
||||
G1 E1 ; This is line 242
|
||||
G1 E1 ; This is line 243
|
||||
G1 E1 ; This is line 244
|
||||
G1 E1 ; This is line 245
|
||||
G1 E1 ; This is line 246
|
||||
G1 E1 ; This is line 247
|
||||
G1 E1 ; This is line 248
|
||||
G1 E1 ; This is line 249
|
||||
G1 E1 ; This is line 250
|
||||
G1 E1 ; This is line 251
|
||||
G1 E1 ; This is line 252
|
||||
G1 E1 ; This is line 253
|
||||
G1 E1 ; This is line 254
|
||||
G1 E1 ; This is line 255
|
||||
G1 E1 ; This is line 256
|
||||
G1 E1 ; This is line 257
|
||||
G1 E1 ; This is line 258
|
||||
G1 E1 ; This is line 259
|
||||
G1 E1 ; This is line 260
|
||||
G1 E1 ; This is line 261
|
||||
G1 E1 ; This is line 262
|
||||
G1 E1 ; This is line 263
|
||||
G1 E1 ; This is line 264
|
||||
G1 E1 ; This is line 265
|
||||
G1 E1 ; This is line 266
|
||||
G1 E1 ; This is line 267
|
||||
G1 E1 ; This is line 268
|
||||
G1 E1 ; This is line 269
|
||||
G1 E1 ; This is line 270
|
||||
G1 E1 ; This is line 271
|
||||
G1 E1 ; This is line 272
|
||||
G1 E1 ; This is line 273
|
||||
G1 E1 ; This is line 274
|
||||
G1 E1 ; This is line 275
|
||||
G1 E1 ; This is line 276
|
||||
G1 E1 ; This is line 277
|
||||
G1 E1 ; This is line 278
|
||||
G1 E1 ; This is line 279
|
||||
G1 E1 ; This is line 280
|
||||
G1 E1 ; This is line 281
|
||||
G1 E1 ; This is line 282
|
||||
G1 E1 ; This is line 283
|
||||
G1 E1 ; This is line 284
|
||||
G1 E1 ; This is line 285
|
||||
G1 E1 ; This is line 286
|
||||
G1 E1 ; This is line 287
|
||||
G1 E1 ; This is line 288
|
||||
G1 E1 ; This is line 289
|
||||
G1 E1 ; This is line 290
|
||||
G1 E1 ; This is line 291
|
||||
G1 E1 ; This is line 292
|
||||
G1 E1 ; This is line 293
|
||||
G1 E1 ; This is line 294
|
||||
G1 E1 ; This is line 295
|
||||
G1 E1 ; This is line 296
|
||||
G1 E1 ; This is line 297
|
||||
G1 E1 ; This is line 298
|
||||
G1 E1 ; This is line 299
|
||||
G1 E1 ; This is line 300
|
||||
G1 E1 ; This is line 301
|
||||
G1 E1 ; This is line 302
|
||||
G1 E1 ; This is line 303
|
||||
G1 E1 ; This is line 304
|
||||
G1 E1 ; This is line 305
|
||||
G1 E1 ; This is line 306
|
||||
G1 E1 ; This is line 307
|
||||
G1 E1 ; This is line 308
|
||||
G1 E1 ; This is line 309
|
||||
G1 E1 ; This is line 310
|
||||
G1 E1 ; This is line 311
|
||||
G1 E1 ; This is line 312
|
||||
G1 E1 ; This is line 313
|
||||
G1 E1 ; This is line 314
|
||||
G1 E1 ; This is line 315
|
||||
G1 E1 ; This is line 316
|
||||
G1 E1 ; This is line 317
|
||||
G1 E1 ; This is line 318
|
||||
G1 E1 ; This is line 319
|
||||
G1 E1 ; This is line 320
|
||||
G1 E1 ; This is line 321
|
||||
G1 E1 ; This is line 322
|
||||
G1 E1 ; This is line 323
|
||||
G1 E1 ; This is line 324
|
||||
G1 E1 ; This is line 325
|
||||
G1 E1 ; This is line 326
|
||||
G1 E1 ; This is line 327
|
||||
G1 E1 ; This is line 328
|
||||
G1 E1 ; This is line 329
|
||||
G1 E1 ; This one breaks
|
||||
G90
|
||||
M808
|
||||
G1 E330 ; Should pass
|
||||
SDCARD_LOOP_BEGIN COUNT=5
|
||||
; Sub-loop
|
||||
G1 X100 Y100
|
||||
G91
|
||||
M808 L3
|
||||
; Inner-loop
|
||||
G1 Z1
|
||||
M808
|
||||
G90
|
||||
SDCARD_LOOP_END
|
||||
; Done
|
||||
Loading…
Reference in New Issue