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8260a3a0c3
Move klippy/homing.py to klippy/extras/homing.py and convert the code to an "extras" modules. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
275 lines
13 KiB
Python
275 lines
13 KiB
Python
# G-Code G1 movement commands (and associated coordinate manipulation)
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#
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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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 GCodeMove:
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def __init__(self, config):
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self.printer = printer = config.get_printer()
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printer.register_event_handler("klippy:ready", self._handle_ready)
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printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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printer.register_event_handler("toolhead:set_position",
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self.reset_last_position)
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printer.register_event_handler("toolhead:manual_move",
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self.reset_last_position)
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printer.register_event_handler("gcode:command_error",
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self.reset_last_position)
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printer.register_event_handler("extruder:activate_extruder",
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self._handle_activate_extruder)
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printer.register_event_handler("homing:home_rails_end",
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self._handle_home_rails_end)
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self.is_printer_ready = False
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# Register g-code commands
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gcode = printer.lookup_object('gcode')
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handlers = [
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'G1', 'G20', 'G21',
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'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
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'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
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]
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for cmd in handlers:
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func = getattr(self, 'cmd_' + cmd)
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desc = getattr(self, 'cmd_' + cmd + '_help', None)
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gcode.register_command(cmd, func, False, desc)
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gcode.register_command('G0', self.cmd_G1)
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gcode.register_command('M114', self.cmd_M114, True)
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gcode.register_command('GET_POSITION', self.cmd_GET_POSITION, True)
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self.Coord = gcode.Coord
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# G-Code coordinate manipulation
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self.absolute_coord = self.absolute_extrude = True
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self.base_position = [0.0, 0.0, 0.0, 0.0]
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self.last_position = [0.0, 0.0, 0.0, 0.0]
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self.homing_position = [0.0, 0.0, 0.0, 0.0]
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self.speed = 25.
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self.speed_factor = 1. / 60.
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self.extrude_factor = 1.
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# G-Code state
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self.saved_states = {}
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self.move_transform = self.move_with_transform = None
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self.position_with_transform = (lambda: [0., 0., 0., 0.])
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def _handle_ready(self):
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self.is_printer_ready = True
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if self.move_transform is None:
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toolhead = self.printer.lookup_object('toolhead')
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self.move_with_transform = toolhead.move
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self.position_with_transform = toolhead.get_position
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def _handle_shutdown(self):
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if not self.is_printer_ready:
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return
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self.is_printer_ready = False
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logging.info("gcode state: absolute_coord=%s absolute_extrude=%s"
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" base_position=%s last_position=%s homing_position=%s"
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" speed_factor=%s extrude_factor=%s speed=%s",
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self.absolute_coord, self.absolute_extrude,
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self.base_position, self.last_position,
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self.homing_position, self.speed_factor,
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self.extrude_factor, self.speed)
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def _handle_activate_extruder(self):
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self.reset_last_position()
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self.extrude_factor = 1.
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self.base_position[3] = self.last_position[3]
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def _handle_home_rails_end(self, homing_state, rails):
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self.reset_last_position()
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for axis in homing_state.get_axes():
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self.base_position[axis] = self.homing_position[axis]
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def set_move_transform(self, transform, force=False):
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if self.move_transform is not None and not force:
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raise self.printer.config_error(
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"G-Code move transform already specified")
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old_transform = self.move_transform
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if old_transform is None:
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old_transform = self.printer.lookup_object('toolhead', None)
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self.move_transform = transform
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self.move_with_transform = transform.move
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self.position_with_transform = transform.get_position
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return old_transform
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def _get_gcode_position(self):
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p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
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p[3] /= self.extrude_factor
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return p
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def _get_gcode_speed(self):
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return self.speed / self.speed_factor
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def _get_gcode_speed_override(self):
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return self.speed_factor * 60.
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def get_status(self, eventtime=None):
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move_position = self._get_gcode_position()
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return {
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'speed_factor': self._get_gcode_speed_override(),
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'speed': self._get_gcode_speed(),
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'extrude_factor': self.extrude_factor,
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'absolute_coordinates': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'homing_origin': self.Coord(*self.homing_position),
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'position': self.Coord(*self.last_position),
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'gcode_position': self.Coord(*move_position),
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}
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def reset_last_position(self):
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if self.is_printer_ready:
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self.last_position = self.position_with_transform()
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# G-Code movement commands
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def cmd_G1(self, gcmd):
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# Move
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params = gcmd.get_command_parameters()
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try:
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for pos, axis in enumerate('XYZ'):
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if axis in params:
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v = float(params[axis])
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if not self.absolute_coord:
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# value relative to position of last move
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self.last_position[pos] += v
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else:
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# value relative to base coordinate position
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self.last_position[pos] = v + self.base_position[pos]
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if 'E' in params:
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v = float(params['E']) * self.extrude_factor
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if not self.absolute_coord or not self.absolute_extrude:
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# value relative to position of last move
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self.last_position[3] += v
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else:
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# value relative to base coordinate position
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self.last_position[3] = v + self.base_position[3]
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if 'F' in params:
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gcode_speed = float(params['F'])
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if gcode_speed <= 0.:
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raise gcmd.error("Invalid speed in '%s'"
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% (gcmd.get_commandline(),))
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self.speed = gcode_speed * self.speed_factor
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except ValueError as e:
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raise gcmd.error("Unable to parse move '%s'"
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% (gcmd.get_commandline(),))
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self.move_with_transform(self.last_position, self.speed)
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# G-Code coordinate manipulation
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def cmd_G20(self, gcmd):
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# Set units to inches
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raise gcmd.error('Machine does not support G20 (inches) command')
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def cmd_G21(self, gcmd):
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# Set units to millimeters
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pass
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def cmd_M82(self, gcmd):
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# Use absolute distances for extrusion
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self.absolute_extrude = True
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def cmd_M83(self, gcmd):
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# Use relative distances for extrusion
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self.absolute_extrude = False
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def cmd_G90(self, gcmd):
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# Use absolute coordinates
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self.absolute_coord = True
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def cmd_G91(self, gcmd):
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# Use relative coordinates
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self.absolute_coord = False
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def cmd_G92(self, gcmd):
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# Set position
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offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ]
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for i, offset in enumerate(offsets):
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if offset is not None:
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if i == 3:
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offset *= self.extrude_factor
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self.base_position[i] = self.last_position[i] - offset
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if offsets == [None, None, None, None]:
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self.base_position = list(self.last_position)
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def cmd_M114(self, gcmd):
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# Get Current Position
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p = self._get_gcode_position()
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gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
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def cmd_M220(self, gcmd):
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# Set speed factor override percentage
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value = gcmd.get_float('S', 100., above=0.) / (60. * 100.)
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self.speed = self._get_gcode_speed() * value
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self.speed_factor = value
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def cmd_M221(self, gcmd):
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# Set extrude factor override percentage
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new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100.
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last_e_pos = self.last_position[3]
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e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
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self.base_position[3] = last_e_pos - e_value * new_extrude_factor
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self.extrude_factor = new_extrude_factor
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cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions"
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def cmd_SET_GCODE_OFFSET(self, gcmd):
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move_delta = [0., 0., 0., 0.]
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for pos, axis in enumerate('XYZE'):
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offset = gcmd.get_float(axis, None)
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if offset is None:
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offset = gcmd.get_float(axis + '_ADJUST', None)
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if offset is None:
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continue
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offset += self.homing_position[pos]
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delta = offset - self.homing_position[pos]
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move_delta[pos] = delta
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self.base_position[pos] += delta
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self.homing_position[pos] = offset
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# Move the toolhead the given offset if requested
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if gcmd.get_int('MOVE', 0):
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speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
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for pos, delta in enumerate(move_delta):
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self.last_position[pos] += delta
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self.move_with_transform(self.last_position, speed)
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cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
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def cmd_SAVE_GCODE_STATE(self, gcmd):
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state_name = gcmd.get('NAME', 'default')
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self.saved_states[state_name] = {
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'absolute_coord': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'base_position': list(self.base_position),
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'last_position': list(self.last_position),
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'homing_position': list(self.homing_position),
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'speed': self.speed, 'speed_factor': self.speed_factor,
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'extrude_factor': self.extrude_factor,
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}
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cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
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def cmd_RESTORE_GCODE_STATE(self, gcmd):
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state_name = gcmd.get('NAME', 'default')
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state = self.saved_states.get(state_name)
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if state is None:
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raise gcmd.error("Unknown g-code state: %s" % (state_name,))
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# Restore state
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self.absolute_coord = state['absolute_coord']
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self.absolute_extrude = state['absolute_extrude']
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self.base_position = list(state['base_position'])
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self.homing_position = list(state['homing_position'])
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self.speed = state['speed']
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self.speed_factor = state['speed_factor']
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self.extrude_factor = state['extrude_factor']
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# Restore the relative E position
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e_diff = self.last_position[3] - state['last_position'][3]
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self.base_position[3] += e_diff
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# Move the toolhead back if requested
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if gcmd.get_int('MOVE', 0):
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speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
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self.last_position[:3] = state['last_position'][:3]
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self.move_with_transform(self.last_position, speed)
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def cmd_GET_POSITION(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead', None)
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if toolhead is None:
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raise gcmd.error("Printer not ready")
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kin = toolhead.get_kinematics()
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steppers = kin.get_steppers()
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mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
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for s in steppers])
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for s in steppers:
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s.set_tag_position(s.get_commanded_position())
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stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
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for s in steppers])
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kin_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZ", kin.calc_tag_position())])
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toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
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"XYZE", toolhead.get_position())])
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gcode_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZE", self.last_position)])
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base_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZE", self.base_position)])
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homing_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZ", self.homing_position)])
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gcmd.respond_info("mcu: %s\n"
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"stepper: %s\n"
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"kinematic: %s\n"
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"toolhead: %s\n"
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"gcode: %s\n"
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"gcode base: %s\n"
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"gcode homing: %s"
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% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
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gcode_pos, base_pos, homing_pos))
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def load_config(config):
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return GCodeMove(config)
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