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bed_tilt: Add support for automatic bed tilt move transformation

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-01-20 23:47:36 -05:00
parent 434341d074
commit 39d62556b1
3 changed files with 144 additions and 3 deletions
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17
klippy/gcode.py
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@ -45,6 +45,8 @@ class GCodeParser:
self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.speed_factor = 1. / 60.
self.extrude_factor = 1.
self.move_transform = self.move_with_transform = None
self.position_with_transform = (lambda: [0., 0., 0., 0.])
# G-Code state
self.need_ack = False
self.toolhead = self.fan = self.extruder = None
@ -66,6 +68,13 @@ class GCodeParser:
self.base_gcode_handlers[cmd] = func
if desc is not None:
self.gcode_help[cmd] = desc
def set_move_transform(self, transform):
if self.move_transform is not None:
raise self.printer.config_error(
"G-Code move transform already specified")
self.move_transform = transform
self.move_with_transform = transform.move
self.position_with_transform = transform.get_position
def stats(self, eventtime):
return "gcodein=%d" % (self.bytes_read,)
def printer_state(self, state):
@ -84,6 +93,9 @@ class GCodeParser:
self.gcode_handlers = self.ready_gcode_handlers
# Lookup printer components
self.toolhead = self.printer.lookup_object('toolhead')
if self.move_transform is None:
self.move_with_transform = self.toolhead.move
self.position_with_transform = self.toolhead.get_position
extruders = extruder.get_printer_extruders(self.printer)
if extruders:
self.extruder = extruders[0]
@ -94,8 +106,7 @@ class GCodeParser:
if self.is_fileinput and self.fd_handle is None:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
def reset_last_position(self):
if self.toolhead is not None:
self.last_position = self.toolhead.get_position()
self.last_position = self.position_with_transform()
def motor_heater_off(self):
if self.toolhead is None:
return
@ -361,7 +372,7 @@ class GCodeParser:
except ValueError as e:
raise error("Unable to parse move '%s'" % (params['#original'],))
try:
self.toolhead.move(self.last_position, self.speed)
self.move_with_transform(self.last_position, self.speed)
except homing.EndstopError as e:
raise error(str(e))
def cmd_G4(self, params):