mirror of https://github.com/Desuuuu/klipper.git
extruder: Support SYNC_STEPPER_TO_EXTRUDER on extruder objects
Refactor the extruder_stepper support so that it uses the ExtruderStepper class defined in extruder.py. Support the SYNC_STEPPER_TO_EXTRUDER command on steppers defined in either extruder_stepper or extruder config sections. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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eb2a67cb95
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@ -182,6 +182,11 @@ The following standard commands are supported:
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result in excessive pressure between extruder and hot end. Do proper
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calibration steps with filament before use. If 'DISTANCE' value is
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not included command will return current step distance.
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- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> [EXTRUDER=<name>]`: This
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command will cause the given extruder STEPPER (as specified in an
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[extruder](Config_Reference#extruder) or
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[extruder stepper](Config_Reference#extruder_stepper) config
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section) to become synchronized to the given EXTRUDER.
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- `SET_STEPPER_ENABLE STEPPER=<config_name> ENABLE=[0|1]`: Enable or
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disable only the given stepper. This is a diagnostic and debugging
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tool and must be used with care. Disabling an axis motor does not
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@ -344,16 +349,6 @@ enabled:
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future G-Code movement commands may run in parallel with the stepper
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movement.
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### Extruder stepper Commands
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The following command is available when an
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[extruder_stepper config section](Config_Reference.md#extruder_stepper)
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is enabled:
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- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<extruder_stepper config_name>
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[EXTRUDER=<extruder config_name>]`: This command will cause the given
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STEPPER to become synchronized to the given EXTRUDER, overriding
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the extruder defined in the "extruder_stepper" config section.
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### Probe
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The following commands are available when a
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@ -4,36 +4,17 @@
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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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import stepper
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from kinematics import extruder
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class ExtruderStepper:
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class PrinterExtruderStepper:
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def __init__(self, config):
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self.printer = config.get_printer()
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stepper_name = config.get_name().split()[1]
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self.extruder_stepper = extruder.ExtruderStepper(config)
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self.extruder_name = config.get('extruder', 'extruder')
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self.stepper = stepper.PrinterStepper(config)
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self.stepper.setup_itersolve('extruder_stepper_alloc')
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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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gcode = self.printer.lookup_object('gcode')
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gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
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stepper_name,
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self.cmd_SYNC_STEPPER_TO_EXTRUDER,
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desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
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def handle_connect(self):
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extruder = self.printer.lookup_object(self.extruder_name)
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extruder.sync_stepper(self.stepper)
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.register_step_generator(self.stepper.generate_steps)
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cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
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def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
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ename = gcmd.get('EXTRUDER')
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extruder = self.printer.lookup_object(ename, None)
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if extruder is None:
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raise gcmd.error("'%s' is not a valid extruder." % (ename,))
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extruder.sync_stepper(self.stepper)
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self.extruder_name = ename
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gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,))
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self.extruder_stepper.sync_to_extruder(self.extruder_name)
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def load_config_prefix(config):
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return ExtruderStepper(config)
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return PrinterExtruderStepper(config)
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@ -9,7 +9,7 @@ import stepper, chelper
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class ExtruderStepper:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name()
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self.name = config.get_name().split()[-1]
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self.pressure_advance = self.pressure_advance_smooth_time = 0.
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# Setup stepper
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self.stepper = stepper.PrinterStepper(config)
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@ -17,9 +17,9 @@ class ExtruderStepper:
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self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
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ffi_lib.free)
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self.stepper.set_stepper_kinematics(self.sk_extruder)
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.register_step_generator(self.stepper.generate_steps)
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# Register commands
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self.printer.register_event_handler("klippy:connect",
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self._handle_connect)
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gcode = self.printer.lookup_object('gcode')
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if self.name == 'extruder':
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gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
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@ -31,12 +31,27 @@ class ExtruderStepper:
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gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
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self.name, self.cmd_SET_E_STEP_DISTANCE,
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desc=self.cmd_SET_E_STEP_DISTANCE_help)
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gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
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self.name, self.cmd_SYNC_STEPPER_TO_EXTRUDER,
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desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
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def _handle_connect(self):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.register_step_generator(self.stepper.generate_steps)
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def get_status(self, eventtime):
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return {'pressure_advance': self.pressure_advance,
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'smooth_time': self.pressure_advance_smooth_time}
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def find_past_position(self, print_time):
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mcu_pos = self.stepper.get_past_mcu_position(print_time)
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return self.stepper.mcu_to_commanded_position(mcu_pos)
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def sync_to_extruder(self, extruder_name):
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extruder = self.printer.lookup_object(extruder_name, None)
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if extruder is None or not isinstance(extruder, PrinterExtruder):
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raise self.printer.command_error("'%s' is not a valid extruder."
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% (extruder_name,))
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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self.stepper.set_position([extruder.last_position, 0., 0.])
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self.stepper.set_trapq(extruder.get_trapq())
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def _set_pressure_advance(self, pressure_advance, smooth_time):
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old_smooth_time = self.pressure_advance_smooth_time
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if not self.pressure_advance:
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@ -81,6 +96,11 @@ class ExtruderStepper:
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self.stepper.set_step_dist(dist)
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gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
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% (self.name, dist))
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cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
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def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
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ename = gcmd.get('EXTRUDER')
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self.sync_to_extruder(ename)
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gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,))
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# Tracking for hotend heater, extrusion motion queue, and extruder stepper
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class PrinterExtruder:
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@ -153,11 +173,6 @@ class PrinterExtruder:
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return self.heater
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def get_trapq(self):
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return self.trapq
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def sync_stepper(self, stepper):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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stepper.set_position([self.last_position, 0., 0.])
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stepper.set_trapq(self.trapq)
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def stats(self, eventtime):
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return self.heater.stats(eventtime)
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def check_move(self, move):
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