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gcode_move: Support additional toolhead axes

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-03-21 23:04:23 -04:00
parent 4c21e1d00f
commit d40fd2190d
2 changed files with 26 additions and 6 deletions
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28
klippy/extras/gcode_move.py
View File

@ -14,6 +14,8 @@ class GCodeMove:
self.reset_last_position) self.reset_last_position)
printer.register_event_handler("toolhead:manual_move", printer.register_event_handler("toolhead:manual_move",
self.reset_last_position) self.reset_last_position)
printer.register_event_handler("toolhead:update_extra_axes",
self._update_extra_axes)
printer.register_event_handler("gcode:command_error", printer.register_event_handler("gcode:command_error",
self.reset_last_position) self.reset_last_position)
printer.register_event_handler("extruder:activate_extruder", printer.register_event_handler("extruder:activate_extruder",
@ -103,13 +105,27 @@ class GCodeMove:
'extrude_factor': self.extrude_factor, 'extrude_factor': self.extrude_factor,
'absolute_coordinates': self.absolute_coord, 'absolute_coordinates': self.absolute_coord,
'absolute_extrude': self.absolute_extrude, 'absolute_extrude': self.absolute_extrude,
'homing_origin': self.Coord(*self.homing_position), 'homing_origin': self.Coord(*self.homing_position[:4]),
'position': self.Coord(*self.last_position), 'position': self.Coord(*self.last_position[:4]),
'gcode_position': self.Coord(*move_position), 'gcode_position': self.Coord(*move_position[:4]),
} }
def reset_last_position(self): def reset_last_position(self):
if self.is_printer_ready: if self.is_printer_ready:
self.last_position = self.position_with_transform() self.last_position = self.position_with_transform()
def _update_extra_axes(self):
toolhead = self.printer.lookup_object('toolhead')
axis_map = {'X':0, 'Y': 1, 'Z': 2, 'E': 3}
extra_axes = toolhead.get_extra_axes()
for index, ea in enumerate(extra_axes):
if ea is None:
continue
gcode_id = ea.get_axis_gcode_id()
if gcode_id is None or gcode_id in axis_map or gcode_id in "FN":
continue
axis_map[gcode_id] = index
self.axis_map = axis_map
self.base_position[4:] = [0.] * (len(extra_axes) - 4)
self.reset_last_position()
# G-Code movement commands # G-Code movement commands
def cmd_G1(self, gcmd): def cmd_G1(self, gcmd):
# Move # Move
@ -167,7 +183,7 @@ class GCodeMove:
offset *= self.extrude_factor offset *= self.extrude_factor
self.base_position[i] = self.last_position[i] - offset self.base_position[i] = self.last_position[i] - offset
if offsets == [None, None, None, None]: if offsets == [None, None, None, None]:
self.base_position = list(self.last_position) self.base_position[:4] = self.last_position[:4]
def cmd_M114(self, gcmd): def cmd_M114(self, gcmd):
# Get Current Position # Get Current Position
p = self._get_gcode_position() p = self._get_gcode_position()
@ -225,7 +241,7 @@ class GCodeMove:
# Restore state # Restore state
self.absolute_coord = state['absolute_coord'] self.absolute_coord = state['absolute_coord']
self.absolute_extrude = state['absolute_extrude'] self.absolute_extrude = state['absolute_extrude']
self.base_position = list(state['base_position']) self.base_position[:4] = state['base_position'][:4]
self.homing_position = list(state['homing_position']) self.homing_position = list(state['homing_position'])
self.speed = state['speed'] self.speed = state['speed']
self.speed_factor = state['speed_factor'] self.speed_factor = state['speed_factor']
@ -253,7 +269,7 @@ class GCodeMove:
kinfo = zip("XYZ", kin.calc_position(dict(cinfo))) kinfo = zip("XYZ", kin.calc_position(dict(cinfo)))
kin_pos = " ".join(["%s:%.6f" % (a, v) for a, v in kinfo]) kin_pos = " ".join(["%s:%.6f" % (a, v) for a, v in kinfo])
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip( toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
"XYZE", toolhead.get_position())]) "XYZE", toolhead.get_position()[:4])])
gcode_pos = " ".join(["%s:%.6f" % (a, v) gcode_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", self.last_position)]) for a, v in zip("XYZE", self.last_position)])
base_pos = " ".join(["%s:%.6f" % (a, v) base_pos = " ".join(["%s:%.6f" % (a, v)

4
klippy/kinematics/extruder.py
View File

@ -197,6 +197,8 @@ class PrinterExtruder:
return self.heater return self.heater
def get_trapq(self): def get_trapq(self):
return self.trapq return self.trapq
def get_axis_gcode_id(self):
return 'E'
def stats(self, eventtime): def stats(self, eventtime):
return self.heater.stats(eventtime) return self.heater.stats(eventtime)
def check_move(self, move, ea_index): def check_move(self, move, ea_index):
@ -298,6 +300,8 @@ class DummyExtruder:
raise self.printer.command_error("Extruder not configured") raise self.printer.command_error("Extruder not configured")
def get_trapq(self): def get_trapq(self):
return None return None
def get_axis_gcode_id(self):
return 'E'
def add_printer_objects(config): def add_printer_objects(config):
printer = config.get_printer() printer = config.get_printer()