mirror of https://github.com/Desuuuu/klipper.git
manual_stepper: Add support for moves with acceleration
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
399d539969
commit
d62a41b930
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@ -657,6 +657,15 @@
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#step_distance:
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# See the "[stepper_x]" section in example.cfg for a description of
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# these parameters.
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#velocity:
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# Set the default velocity (in mm/s) for the stepper. This value
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# will be used if a MANUAL_STEPPER command does not specify a SPEED
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# parameter. The default is 5mm/s.
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#accel:
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# Set the default acceleration (in mm/s^2) for the stepper. An
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# acceleration of zero will result in no acceleration. This value
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# will be used if a MANUAL_STEPPER command does not specify an ACCEL
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# parameter. The default is zero.
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#endstop_pin:
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# Endstop switch detection pin. If specified, then one may perform
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# "homing moves" by adding a STOP_ON_ENDSTOP parameter to
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@ -170,15 +170,18 @@ enabled:
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The following command is available when a "manual_stepper" config
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section is enabled:
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- `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
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[SET_POSITION=<pos>]
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[MOVE=<pos> SPEED=<speed> [STOP_ON_ENDSTOP=1]]`: This command will
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alter the state of the stepper. Use the ENABLE parameter to
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enable/disable the stepper. Use the SET_POSITION parameter to force
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the stepper to think it is at the given position. Use the MOVE
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parameter to request a movement to the given position at the given
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SPEED. If STOP_ON_ENDSTOP is specified then the move will end early
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should the endstop report as triggered (use STOP_ON_ENDSTOP=-1 to
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stop early should the endstop report not triggered).
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[SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>]
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[MOVE=<pos> [STOP_ON_ENDSTOP=1]]`: This command will alter the state
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of the stepper. Use the ENABLE parameter to enable/disable the
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stepper. Use the SET_POSITION parameter to force the stepper to
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think it is at the given position. Use the MOVE parameter to request
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a movement to the given position. If SPEED and/or ACCEL is specified
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then the given values will be used instead of the defaults specified
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in the config file. If an ACCEL of zero is specified then no
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acceleration will be preformed. If STOP_ON_ENDSTOP is specified then
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the move will end early should the endstop report as triggered (use
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STOP_ON_ENDSTOP=-1 to stop early should the endstop report not
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triggered).
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## Probe
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@ -312,16 +315,18 @@ section is enabled:
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The following commands are available when the "force_move" config
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section is enabled:
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- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value>
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VELOCITY=<value>`: This command will forcibly move the given stepper
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- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> VELOCITY=<value>
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[ACCEL=<value>]`: This command will forcibly move the given stepper
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the given distance (in mm) at the given constant velocity (in
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mm/s). No acceleration is performed; no boundary checks are
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performed; no kinematic updates are made; other parallel steppers on
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an axis will not be moved. Use caution as an incorrect command could
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cause damage! Using this command will almost certainly place the
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low-level kinematics in an incorrect state; issue a G28 afterwards
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to reset the kinematics. This command is intended for low-level
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diagnostics and debugging.
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mm/s). If ACCEL is specified and is greater than zero, then the
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given acceleration (in mm/s^2) will be used; otherwise no
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acceleration is performed. No boundary checks are performed; no
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kinematic updates are made; other parallel steppers on an axis will
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not be moved. Use caution as an incorrect command could cause
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damage! Using this command will almost certainly place the low-level
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kinematics in an incorrect state; issue a G28 afterwards to reset
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the kinematics. This command is intended for low-level diagnostics
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and debugging.
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- `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
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the low-level kinematic code to believe the toolhead is at the given
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cartesian position. This is a diagnostic and debugging command; use
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@ -3,12 +3,25 @@
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import math, logging
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import chelper
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BUZZ_VELOCITY = 4.
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STALL_TIME = 0.100
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# Calculate a move's accel_t, cruise_t, and cruise_v
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def calc_move_time(dist, speed, accel):
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dist = abs(dist)
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if not accel:
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return 0., dist / speed, speed
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max_cruise_v2 = dist * accel
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if max_cruise_v2 < speed**2:
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speed = math.sqrt(max_cruise_v2)
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accel_t = speed / accel
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accel_decel_d = accel_t * speed
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cruise_t = (dist - accel_decel_d) / speed
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return accel_t, cruise_t, speed
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class ForceMove:
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def __init__(self, config):
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self.printer = config.get_printer()
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@ -49,17 +62,17 @@ class ForceMove:
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print_time = toolhead.get_last_move_time()
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stepper.motor_enable(print_time, 0)
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toolhead.dwell(STALL_TIME)
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def manual_move(self, stepper, dist, speed):
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def manual_move(self, stepper, dist, speed, accel=0.):
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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move_t = abs(dist / speed)
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prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
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stepper.set_position((0., 0., 0.))
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self.move_fill(self.cmove, print_time, 0., move_t, 0.,
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0., 0., 0., dist, 0., 0., 0., speed, 0.)
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accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
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self.move_fill(self.cmove, print_time, accel_t, cruise_t, accel_t,
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0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
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stepper.step_itersolve(self.cmove)
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stepper.set_stepper_kinematics(prev_sk)
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toolhead.dwell(move_t)
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toolhead.dwell(accel_t + cruise_t + accel_t)
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def _lookup_stepper(self, params):
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name = self.gcode.get_str('STEPPER', params)
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if name not in self.steppers:
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@ -82,10 +95,11 @@ class ForceMove:
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stepper = self._lookup_stepper(params)
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distance = self.gcode.get_float('DISTANCE', params)
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speed = self.gcode.get_float('VELOCITY', params, above=0.)
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logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f",
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stepper.get_name(), distance, speed)
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accel = self.gcode.get_float('ACCEL', params, 0., minval=0.)
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logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
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stepper.get_name(), distance, speed, accel)
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was_enable, was_ignore = self.force_enable(stepper)
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self.manual_move(stepper, distance, speed)
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self.manual_move(stepper, distance, speed, accel)
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self.restore_enable(stepper, True, was_ignore)
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cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
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def cmd_SET_KINEMATIC_POSITION(self, params):
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@ -3,7 +3,7 @@
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# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import stepper, homing, chelper
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import stepper, homing, force_move, chelper
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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@ -18,6 +18,8 @@ class ManualStepper:
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else:
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self.can_home = False
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self.stepper = stepper.PrinterStepper(config)
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self.velocity = config.getfloat('velocity', 5., above=0.)
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self.accel = config.getfloat('accel', 0., minval=0.)
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self.next_cmd_time = 0.
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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@ -46,17 +48,20 @@ class ManualStepper:
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self.sync_print_time()
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def do_set_position(self, setpos):
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self.stepper.set_position([setpos, 0., 0.])
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def do_move(self, movepos, speed):
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def do_move(self, movepos, speed, accel):
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self.sync_print_time()
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cp = self.stepper.get_commanded_position()
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dist = movepos - cp
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move_t = abs(dist / speed)
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self.move_fill(self.cmove, self.next_cmd_time, 0., move_t, 0.,
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cp, 0., 0., dist, 0., 0., 0., speed, 0.)
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accel_t, cruise_t, cruise_v = force_move.calc_move_time(
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dist, speed, accel)
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self.move_fill(self.cmove, self.next_cmd_time,
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accel_t, cruise_t, accel_t,
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cp, 0., 0., dist, 0., 0.,
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0., cruise_v, accel)
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self.stepper.step_itersolve(self.cmove)
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self.next_cmd_time += move_t
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self.next_cmd_time += accel_t + cruise_t + accel_t
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self.sync_print_time()
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def do_homing_move(self, movepos, speed, triggered):
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def do_homing_move(self, movepos, speed, accel, triggered):
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if not self.can_home:
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raise self.gcode.error("No endstop for this manual stepper")
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# Notify endstops of upcoming home
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@ -72,7 +77,7 @@ class ManualStepper:
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self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
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min_step_dist / speed, triggered=triggered)
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# Issue move
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self.do_move(movepos, speed)
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self.do_move(movepos, speed, accel)
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# Wait for endstops to trigger
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error = None
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for mcu_endstop, name in endstops:
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@ -98,18 +103,18 @@ class ManualStepper:
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setpos = self.gcode.get_float('SET_POSITION', params)
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self.do_set_position(setpos)
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homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0)
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speed = self.gcode.get_float('SPEED', params, self.velocity, above=0.)
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accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.)
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if homing_move:
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movepos = self.gcode.get_float('MOVE', params)
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speed = self.gcode.get_float('SPEED', params, above=0.)
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if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
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self.do_enable(True)
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self.do_homing_move(movepos, speed, homing_move > 0)
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self.do_homing_move(movepos, speed, accel, homing_move > 0)
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elif 'MOVE' in params:
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movepos = self.gcode.get_float('MOVE', params)
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speed = self.gcode.get_float('SPEED', params, above=0.)
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if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
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self.do_enable(True)
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self.do_move(movepos, speed)
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self.do_move(movepos, speed, accel)
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def handle_motor_off(self, print_time):
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self.do_enable(0)
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@ -4,6 +4,8 @@ step_pin: ar54
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dir_pin: ar55
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enable_pin: !ar38
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step_distance: .0125
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velocity: 7
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accel: 500
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[manual_stepper homing_stepper]
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step_pin: ar60
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@ -6,14 +6,14 @@ DICTIONARY atmega2560-16mhz.dict
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MANUAL_STEPPER STEPPER=basic_stepper ENABLE=1
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MANUAL_STEPPER STEPPER=basic_stepper SET_POSITION=0
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=10 SPEED=10
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=5 SPEED=5
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=5
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12 ACCEL=9000.2
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MANUAL_STEPPER STEPPER=basic_stepper ENABLE=0
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# Test homing move
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MANUAL_STEPPER STEPPER=homing_stepper ENABLE=1
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MANUAL_STEPPER STEPPER=homing_stepper SET_POSITION=0
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MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=10
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MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=100 ACCEL=1
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MANUAL_STEPPER STEPPER=homing_stepper ENABLE=0
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# Test motor off
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