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extruder: Add support for reversing the direction of extruder stepper movement

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Extend SET_EXTRUDER_ROTATION_DISTANCE to support reversing the
direction of extruder movement.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2022-01-29 19:13:31 -05:00
parent 189188e3ca
commit 9ec9742484
9 changed files with 60 additions and 19 deletions
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17
klippy/stepper.py
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@@ -36,7 +36,7 @@ class MCU_stepper:
raise self._mcu.get_printer().config_error(
"Stepper dir pin must be on same mcu as step pin")
self._dir_pin = dir_pin_params['pin']
self._invert_dir = dir_pin_params['invert']
self._invert_dir = self._orig_invert_dir = dir_pin_params['invert']
self._step_both_edge = self._req_step_both_edge = False
self._mcu_position_offset = 0.
self._reset_cmd_tag = self._get_position_cmd = None
@@ -44,6 +44,7 @@ class MCU_stepper:
ffi_main, ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(oid),
ffi_lib.stepcompress_free)
ffi_lib.stepcompress_set_invert_sdir(self._stepqueue, self._invert_dir)
self._mcu.register_stepqueue(self._stepqueue)
self._stepper_kinematics = None
self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps
@@ -101,7 +102,7 @@ class MCU_stepper:
max_error_ticks = self._mcu.seconds_to_clock(max_error)
ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.stepcompress_fill(self._stepqueue, max_error_ticks,
self._invert_dir, step_cmd_tag, dir_cmd_tag)
step_cmd_tag, dir_cmd_tag)
def get_oid(self):
return self._oid
def get_step_dist(self):
@@ -114,8 +115,16 @@ class MCU_stepper:
self._step_dist = rotation_dist / self._steps_per_rotation
self.set_stepper_kinematics(self._stepper_kinematics)
self._set_mcu_position(mcu_pos)
def is_dir_inverted(self):
return self._invert_dir
def get_dir_inverted(self):
return self._invert_dir, self._orig_invert_dir
def set_dir_inverted(self, invert_dir):
invert_dir = not not invert_dir
if invert_dir == self._invert_dir:
return
self._invert_dir = invert_dir
ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.stepcompress_set_invert_sdir(self._stepqueue, invert_dir)
self._mcu.get_printer().send_event("stepper:set_dir_inverted", self)
def calc_position_from_coord(self, coord):
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.itersolve_calc_position_from_coord(