.github
config
docs
klippy
chelper
extras
display
__init__.py
ad5206.py
adc_scaled.py
adc_temperature.py
adxl345.py
angle.py
bed_mesh.py
bed_screws.py
bed_tilt.py
bltouch.py
bme280.py
board_pins.py
bus.py
buttons.py
canbus_ids.py
controller_fan.py
dac084S085.py
delayed_gcode.py
delta_calibrate.py
display_status.py
dotstar.py
ds18b20.py
duplicate_pin_override.py
endstop_phase.py
exclude_object.py
extruder_stepper.py
fan.py
fan_generic.py
filament_motion_sensor.py
filament_switch_sensor.py
firmware_retraction.py
force_move.py
gcode_arcs.py
gcode_button.py
gcode_macro.py
gcode_move.py
hall_filament_width_sensor.py
heater_bed.py
heater_fan.py
heater_generic.py
heaters.py
homing.py
homing_heaters.py
homing_override.py
htu21d.py
idle_timeout.py
input_shaper.py
led.py
lm75.py
manual_probe.py
manual_stepper.py
mcp4018.py
mcp4451.py
mcp4728.py
motion_report.py
mpu9250.py
multi_pin.py
neopixel.py
output_pin.py
palette2.py
pause_resume.py
pca9533.py
pca9632.py
pid_calibrate.py
print_stats.py
probe.py
pulse_counter.py
quad_gantry_level.py
query_adc.py
query_endstops.py
replicape.py
resonance_tester.py
respond.py
safe_z_home.py
samd_sercom.py
save_variables.py
screws_tilt_adjust.py
sdcard_loop.py
servo.py
shaper_calibrate.py
shaper_defs.py
skew_correction.py
smart_effector.py
spi_temperature.py
static_digital_output.py
statistics.py
stepper_enable.py
sx1509.py
temperature_fan.py
temperature_host.py
temperature_mcu.py
temperature_sensor.py
temperature_sensors.cfg
thermistor.py
tmc.py
tmc2130.py
tmc2208.py
tmc2209.py
tmc2660.py
tmc5160.py
tmc_uart.py
tsl1401cl_filament_width_sensor.py
tuning_tower.py
verify_heater.py
virtual_sdcard.py
z_tilt.py
kinematics
clocksync.py
configfile.py
console.py
gcode.py
klippy.py
mathutil.py
mcu.py
msgproto.py
parsedump.py
pins.py
queuelogger.py
reactor.py
serialhdl.py
stepper.py
toolhead.py
util.py
webhooks.py
lib
scripts
src
test
.gitignore
COPYING
Makefile
README.md
b5e4f3d204
Add help description to HELP Add help description to RESPOND Add help description to MEASURE_AXES_NOISE, TEST_RESONANCES and SHAPER_CALIBRATE Add help description to PAUSE, RESUME, CLEAR_PAUSE and CANCEL_PRINT Add help description to GET_POSITION Add help description to SET_RETRACTION and GET_RETRACTION Signed-off-by: Stefan Dej <meteyou@gmail.com>
277 lines
13 KiB
Python
277 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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desc=self.cmd_GET_POSITION_help)
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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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self.reset_last_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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cmd_GET_POSITION_help = (
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"Return information on the current location of the toolhead")
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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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cinfo = [(s.get_name(), s.get_commanded_position()) for s in steppers]
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stepper_pos = " ".join(["%s:%.6f" % (a, v) for a, v in cinfo])
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kinfo = zip("XYZ", kin.calc_position(dict(cinfo)))
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kin_pos = " ".join(["%s:%.6f" % (a, v) for a, v in kinfo])
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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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