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stepper: Remove set_tag_position() code

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Have callers store the stepper positions in a dict.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-05-01 00:27:43 -04:00
parent 77bc5e4388
commit c0d860487a
17 changed files with 62 additions and 66 deletions
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6
klippy/extras/delta_calibrate.py
View File

@@ -233,9 +233,9 @@ class DeltaCalibrate:
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
kin = toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
kin_pos = kin.calc_tag_position()
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
kin_pos = kin.calc_position(kin_spos)
# Convert location to a stable position
delta_params = kin.get_calibration()
stable_pos = tuple(delta_params.calc_stable_position(kin_pos))

17
klippy/extras/endstop_phase.py
View File

@@ -102,17 +102,16 @@ class EndstopPhase:
self.name, phase, self.endstop_phase))
return delta * self.step_dist
def handle_home_rails_end(self, homing_state, rails):
kin_spos = homing_state.get_stepper_trigger_positions()
orig_pos = kin_spos.get(self.name)
if orig_pos is None:
return
for rail in rails:
stepper = rail.get_steppers()[0]
if stepper.get_name() != self.name:
continue
orig_pos = rail.get_tag_position()
offset = self.get_homed_offset(stepper)
pos = self.align_endstop(orig_pos) + offset
if pos == orig_pos:
return False
rail.set_tag_position(pos)
return True
if stepper.get_name() == self.name:
offset = self.get_homed_offset(stepper)
kin_spos[self.name] = self.align_endstop(orig_pos) + offset
return
class EndstopPhases:
def __init__(self, config):

10
klippy/extras/gcode_move.py
View File

@@ -247,12 +247,10 @@ class GCodeMove:
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
for s in steppers])
for s in steppers:
s.set_tag_position(s.get_commanded_position())
stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
for s in steppers])
kin_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZ", kin.calc_tag_position())])
cinfo = [(s.get_name(), s.get_commanded_position()) for s in steppers]
stepper_pos = " ".join(["%s:%.6f" % (a, v) for a, v in cinfo])
kinfo = zip("XYZ", kin.calc_position(dict(cinfo)))
kin_pos = " ".join(["%s:%.6f" % (a, v) for a, v in kinfo])
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
"XYZE", toolhead.get_position())])
gcode_pos = " ".join(["%s:%.6f" % (a, v)

25
klippy/extras/homing.py
View File

@@ -46,8 +46,8 @@ class HomingMove:
# Note start location
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in self.endstops
for s in es.get_steppers()]
@@ -80,9 +80,10 @@ class HomingMove:
for s, name, spos in start_mcu_pos]
if probe_pos:
for s, name, spos, epos in self.end_mcu_pos:
md = (epos - spos) * s.get_step_dist()
s.set_tag_position(s.get_tag_position() + md)
movepos = list(kin.calc_tag_position())[:3] + movepos[3:]
sname = s.get_name()
if sname in kin_spos:
kin_spos[sname] += (epos - spos) * s.get_step_dist()
movepos = list(kin.calc_position(kin_spos))[:3] + movepos[3:]
self.toolhead.set_position(movepos)
# Signal homing/probing move complete
try:
@@ -107,10 +108,13 @@ class Homing:
self.printer = printer
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
self.kin_spos = {}
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def get_stepper_trigger_positions(self):
return self.kin_spos
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
@@ -155,12 +159,13 @@ class Homing:
# Signal home operation complete
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
ret = self.printer.send_event("homing:home_rails_end", self, rails)
if any(ret):
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
self.kin_spos = dict(kin_spos)
self.printer.send_event("homing:home_rails_end", self, rails)
if kin_spos != self.kin_spos:
# Apply any homing offsets
adjustpos = kin.calc_tag_position()
adjustpos = kin.calc_position(self.kin_spos)
for axis in homing_axes:
movepos[axis] = adjustpos[axis]
self.toolhead.set_position(movepos)

6
klippy/extras/manual_probe.py
View File

@@ -82,9 +82,9 @@ class ManualProbeHelper:
return self.last_kinematics_pos
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
s.set_tag_position(s.get_commanded_position())
kin_pos = kin.calc_tag_position()
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
kin_pos = kin.calc_position(kin_spos)
self.last_toolhead_pos = toolhead_pos
self.last_kinematics_pos = kin_pos
return kin_pos