h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

stepcompress: Add support for tracking history of queue_step commands

Browse Source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-02-22 17:57:36 -05:00
parent 4cbcd45ce9
commit 81428265bd
3 changed files with 130 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
klippy/stepper.py
View File

@@ -124,6 +124,11 @@ class MCU_stepper:
return self._tag_position
def set_tag_position(self, position):
self._tag_position = position
def get_past_commanded_position(self, clock):
ffi_main, ffi_lib = chelper.get_ffi()
sq = self._stepqueue
mcu_pos = ffi_lib.stepcompress_find_past_position(sq, clock)
return mcu_pos * self._step_dist - self._mcu_position_offset
def set_stepper_kinematics(self, sk):
old_sk = self._stepper_kinematics
self._stepper_kinematics = sk
@@ -145,7 +150,11 @@ class MCU_stepper:
if not did_trigger or self._mcu.is_fileoutput():
return
params = self._get_position_cmd.send([self._oid])
mcu_pos_dist = params['pos'] * self._step_dist
last_pos = params['pos']
ret = ffi_lib.stepcompress_set_last_position(self._stepqueue, last_pos)
if ret:
raise error("Internal error in stepcompress")
mcu_pos_dist = last_pos * self._step_dist
if self._invert_dir:
mcu_pos_dist = -mcu_pos_dist
self._mcu_position_offset = mcu_pos_dist - self.get_commanded_position()