mirror of https://github.com/Desuuuu/klipper.git
137 lines
6.2 KiB
Python
137 lines
6.2 KiB
Python
# Utility for manually moving a stepper for diagnostic purposes
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#
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# Copyright (C) 2018-2019 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 math, logging
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import chelper
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BUZZ_DISTANCE = 1.
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BUZZ_VELOCITY = BUZZ_DISTANCE / .250
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BUZZ_RADIANS_DISTANCE = math.radians(1.)
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BUZZ_RADIANS_VELOCITY = BUZZ_RADIANS_DISTANCE / .250
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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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axis_r = 1.
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if dist < 0.:
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axis_r = -1.
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dist = -dist
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if not accel or not dist:
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return axis_r, 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 axis_r, 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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self.steppers = {}
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
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self.trapq_append = ffi_lib.trapq_append
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self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
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self.stepper_kinematics = ffi_main.gc(
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ffi_lib.cartesian_stepper_alloc(b'x'), ffi_lib.free)
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
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desc=self.cmd_STEPPER_BUZZ_help)
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if config.getboolean("enable_force_move", False):
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gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE,
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desc=self.cmd_FORCE_MOVE_help)
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gcode.register_command('SET_KINEMATIC_POSITION',
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self.cmd_SET_KINEMATIC_POSITION,
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desc=self.cmd_SET_KINEMATIC_POSITION_help)
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def register_stepper(self, config, mcu_stepper):
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self.steppers[mcu_stepper.get_name()] = mcu_stepper
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def lookup_stepper(self, name):
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if name not in self.steppers:
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raise self.printer.config_error("Unknown stepper %s" % (name,))
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return self.steppers[name]
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def _force_enable(self, stepper):
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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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stepper_enable = self.printer.lookup_object('stepper_enable')
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enable = stepper_enable.lookup_enable(stepper.get_name())
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was_enable = enable.is_motor_enabled()
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if not was_enable:
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enable.motor_enable(print_time)
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toolhead.dwell(STALL_TIME)
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return was_enable
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def _restore_enable(self, stepper, was_enable):
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if not was_enable:
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.dwell(STALL_TIME)
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print_time = toolhead.get_last_move_time()
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stepper_enable = self.printer.lookup_object('stepper_enable')
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enable = stepper_enable.lookup_enable(stepper.get_name())
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enable.motor_disable(print_time)
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toolhead.dwell(STALL_TIME)
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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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toolhead.flush_step_generation()
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prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
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prev_trapq = stepper.set_trapq(self.trapq)
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stepper.set_position((0., 0., 0.))
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axis_r, accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
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print_time = toolhead.get_last_move_time()
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self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
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0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
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print_time = print_time + accel_t + cruise_t + accel_t
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stepper.generate_steps(print_time)
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self.trapq_finalize_moves(self.trapq, print_time + 99999.9)
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stepper.set_trapq(prev_trapq)
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stepper.set_stepper_kinematics(prev_sk)
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toolhead.note_kinematic_activity(print_time)
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toolhead.dwell(accel_t + cruise_t + accel_t)
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def _lookup_stepper(self, gcmd):
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name = gcmd.get('STEPPER')
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if name not in self.steppers:
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raise gcmd.error("Unknown stepper %s" % (name,))
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return self.steppers[name]
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cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
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def cmd_STEPPER_BUZZ(self, gcmd):
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stepper = self._lookup_stepper(gcmd)
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logging.info("Stepper buzz %s", stepper.get_name())
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was_enable = self._force_enable(stepper)
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toolhead = self.printer.lookup_object('toolhead')
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dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY
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if stepper.units_in_radians():
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dist, speed = BUZZ_RADIANS_DISTANCE, BUZZ_RADIANS_VELOCITY
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for i in range(10):
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self.manual_move(stepper, dist, speed)
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toolhead.dwell(.050)
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self.manual_move(stepper, -dist, speed)
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toolhead.dwell(.450)
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self._restore_enable(stepper, was_enable)
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cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
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def cmd_FORCE_MOVE(self, gcmd):
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stepper = self._lookup_stepper(gcmd)
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distance = gcmd.get_float('DISTANCE')
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speed = gcmd.get_float('VELOCITY', above=0.)
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accel = gcmd.get_float('ACCEL', 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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self._force_enable(stepper)
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self.manual_move(stepper, distance, speed, accel)
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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, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.get_last_move_time()
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curpos = toolhead.get_position()
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x = gcmd.get_float('X', curpos[0])
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y = gcmd.get_float('Y', curpos[1])
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z = gcmd.get_float('Z', curpos[2])
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logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
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toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
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def load_config(config):
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return ForceMove(config)
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