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motion_queuing: Add new module to help with motion queues and flushing

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Create a new module to assist with host management of motion queues.
Register all MCU_stepper objects with this module and use the module
for step generation.

All steppers will now automatically generate steps whenever
toolhead._advance_flush_time() is invoked.  It is no longer necessary
for callers to individually call stepper.generate_steps().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-04 21:57:45 -04:00
parent 126275d1f4
commit 9399e738bc
17 changed files with 29 additions and 37 deletions
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9
klippy/extras/force_move.py
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@@ -85,14 +85,13 @@ class ForceMove:
self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
print_time = print_time + accel_t + cruise_t + accel_t
stepper.generate_steps(print_time)
self.trapq_finalize_moves(self.trapq, print_time + 99999.9,
print_time + 99999.9)
stepper.set_trapq(prev_trapq)
stepper.set_stepper_kinematics(prev_sk)
toolhead.note_mcu_movequeue_activity(print_time)
toolhead.dwell(accel_t + cruise_t + accel_t)
toolhead.flush_step_generation()
stepper.set_trapq(prev_trapq)
stepper.set_stepper_kinematics(prev_sk)
self.trapq_finalize_moves(self.trapq, print_time + 99999.9,
print_time + 99999.9)
def _lookup_stepper(self, gcmd):
name = gcmd.get('STEPPER')
if name not in self.steppers: