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extruder: Add support for reversing the direction of extruder stepper movement

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Extend SET_EXTRUDER_ROTATION_DISTANCE to support reversing the
direction of extruder movement.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2022-01-29 19:13:31 -05:00
parent 189188e3ca
commit 9ec9742484
9 changed files with 60 additions and 19 deletions
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4
klippy/extras/tmc.py
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@@ -224,6 +224,8 @@ class TMCCommandHelper:
self.stepper_enable = self.printer.load_object(config, "stepper_enable")
self.printer.register_event_handler("stepper:sync_mcu_position",
self._handle_sync_mcu_pos)
self.printer.register_event_handler("stepper:set_sdir_inverted",
self._handle_sync_mcu_pos)
self.printer.register_event_handler("klippy:mcu_identify",
self._handle_mcu_identify)
self.printer.register_event_handler("klippy:connect",
@@ -306,7 +308,7 @@ class TMCCommandHelper:
if enable_line.is_motor_enabled():
raise
return
if not stepper.is_dir_inverted():
if not stepper.get_dir_inverted()[0]:
driver_phase = 1023 - driver_phase
phases = self._get_phases()
phase = int(float(driver_phase) / 1024 * phases + .5) % phases