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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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22
klippy/toolhead.py
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@@ -14,12 +14,13 @@ EXTRUDE_DIFF_IGNORE = 1.02
# Class to track each move request
class Move:
def __init__(self, toolhead, pos, axes_d, speed, accel):
def __init__(self, toolhead, start_pos, end_pos, speed, accel):
self.toolhead = toolhead
self.pos = tuple(pos)
self.axes_d = axes_d
self.start_pos = tuple(start_pos)
self.end_pos = tuple(end_pos)
self.accel = accel
self.do_calc_junction = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
if axes_d[2]:
# Move with Z
move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@@ -29,6 +30,10 @@ class Move:
if not move_d:
# Extrude only move
move_d = abs(axes_d[3])
if not move_d:
# No move
self.move_d = 0.
return
self.do_calc_junction = False
self.move_d = move_d
self.extrude_r = axes_d[3] / move_d
@@ -245,15 +250,12 @@ class ToolHead:
self.commanded_pos[:] = newpos
self.kin.set_position(newpos)
def move(self, newpos, speed, sloppy=False):
axes_d = [newpos[i] - self.commanded_pos[i]
for i in (0, 1, 2, 3)]
if axes_d == [0., 0., 0., 0.]:
# No move
return
speed = min(speed, self.max_speed)
move = Move(self, newpos, axes_d, speed, self.max_accel)
move = Move(self, self.commanded_pos, newpos, speed, self.max_accel)
if not move.move_d:
return
self.kin.check_move(move)
if axes_d[3]:
if move.axes_d[3]:
self.extruder.check_move(move)
self.commanded_pos[:] = newpos
self.move_queue.add_move(move)