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toolhead: Ensure full kin_flush_delay after flush_step_generation()

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Commit b7b13588 made it possible that the kinematic code could be
restarted after a flush_step_generation() call without a sufficient
delay.

Rename last_sg_flush_time to min_restart_time and use that to ensure
_calc_print_time() always pauses kin_flush_delay time since the last
flush_step_generation() call.

Also, update force_move to invoke flush_step_generation() after any
movements.  This is needed to ensure there is a sufficient delay
should force_move be called on a stepper motor that is part of the
toolhead kinematics and is using a step generation "scan time".

This fixes possible "internal error in stepcompress" reports when
using FORCE_MOVE.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2024-01-16 20:40:55 -05:00
parent 447a88eb08
commit 3d3b87f97f
2 changed files with 5 additions and 4 deletions
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2
klippy/extras/force_move.py
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@ -90,8 +90,8 @@ class ForceMove:
print_time + 99999.9)
stepper.set_trapq(prev_trapq)
stepper.set_stepper_kinematics(prev_sk)
toolhead.note_kinematic_activity(print_time)
toolhead.dwell(accel_t + cruise_t + accel_t)
toolhead.flush_step_generation()
def _lookup_stepper(self, gcmd):
name = gcmd.get('STEPPER')
if name not in self.steppers: