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toolhead: Store both the start and end position in the Move class

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Store the start position (in addition to the existing end position) in
the Move class.  The start position can be useful to the kinematic
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-10-25 19:11:05 -04:00
parent 306db9a851
commit 6a96e83ea9
3 changed files with 21 additions and 17 deletions
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14
klippy/cartesian.py
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@@ -67,16 +67,17 @@ class CartKinematics:
def query_endstops(self, move_time):
return homing.QueryEndstops(["x", "y", "z"], self.steppers)
def check_endstops(self, move):
end_pos = move.end_pos
for i in StepList:
if (move.axes_d[i]
and (move.pos[i] < self.limits[i][0]
or move.pos[i] > self.limits[i][1])):
and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise homing.EndstopError(move.pos, "Must home axis first")
raise homing.EndstopError(move.pos)
raise homing.EndstopError(end_pos, "Must home axis first")
raise homing.EndstopError(end_pos)
def check_move(self, move):
limits = self.limits
xpos, ypos = move.pos[:2]
xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]):
self.check_endstops(move)
@@ -96,7 +97,8 @@ class CartKinematics:
inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v
for i in StepList:
new_step_pos = int(move.pos[i]*self.steppers[i].inv_step_dist + 0.5)
new_step_pos = int(
move.end_pos[i]*self.steppers[i].inv_step_dist + 0.5)
steps = new_step_pos - self.stepper_pos[i]
if not steps:
continue