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>
This commit is contained in:
Kevin O'Connor 2022-01-11 15:00:36 -05:00
parent ffbd2698fe
commit eb2a67cb95
3 changed files with 33 additions and 42 deletions

View file

@ -9,7 +9,7 @@ import stepper, chelper
class ExtruderStepper:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name()
self.name = config.get_name().split()[-1]
self.pressure_advance = self.pressure_advance_smooth_time = 0.
# Setup stepper
self.stepper = stepper.PrinterStepper(config)
@ -17,9 +17,9 @@ class ExtruderStepper:
self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
ffi_lib.free)
self.stepper.set_stepper_kinematics(self.sk_extruder)
toolhead = self.printer.lookup_object('toolhead')
toolhead.register_step_generator(self.stepper.generate_steps)
# Register commands
self.printer.register_event_handler("klippy:connect",
self._handle_connect)
gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder':
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
@ -31,12 +31,27 @@ class ExtruderStepper:
gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
self.name, self.cmd_SET_E_STEP_DISTANCE,
desc=self.cmd_SET_E_STEP_DISTANCE_help)
gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
self.name, self.cmd_SYNC_STEPPER_TO_EXTRUDER,
desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
def _handle_connect(self):
toolhead = self.printer.lookup_object('toolhead')
toolhead.register_step_generator(self.stepper.generate_steps)
def get_status(self, eventtime):
return {'pressure_advance': self.pressure_advance,
'smooth_time': self.pressure_advance_smooth_time}
def find_past_position(self, print_time):
mcu_pos = self.stepper.get_past_mcu_position(print_time)
return self.stepper.mcu_to_commanded_position(mcu_pos)
def sync_to_extruder(self, extruder_name):
extruder = self.printer.lookup_object(extruder_name, None)
if extruder is None or not isinstance(extruder, PrinterExtruder):
raise self.printer.command_error("'%s' is not a valid extruder."
% (extruder_name,))
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
self.stepper.set_position([extruder.last_position, 0., 0.])
self.stepper.set_trapq(extruder.get_trapq())
def _set_pressure_advance(self, pressure_advance, smooth_time):
old_smooth_time = self.pressure_advance_smooth_time
if not self.pressure_advance:
@ -81,6 +96,11 @@ class ExtruderStepper:
self.stepper.set_step_dist(dist)
gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
% (self.name, dist))
cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
ename = gcmd.get('EXTRUDER')
self.sync_to_extruder(ename)
gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,))
# Tracking for hotend heater, extrusion motion queue, and extruder stepper
class PrinterExtruder:
@ -153,11 +173,6 @@ class PrinterExtruder:
return self.heater
def get_trapq(self):
return self.trapq
def sync_stepper(self, stepper):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
stepper.set_position([self.last_position, 0., 0.])
stepper.set_trapq(self.trapq)
def stats(self, eventtime):
return self.heater.stats(eventtime)
def check_move(self, move):