mirror of https://github.com/Desuuuu/klipper.git
119 lines
5.3 KiB
Python
119 lines
5.3 KiB
Python
# Support for a manual controlled stepper
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#
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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, force_move, chelper
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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class ManualStepper:
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def __init__(self, config):
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self.printer = config.get_printer()
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if config.get('endstop_pin', None) is not None:
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self.can_home = True
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self.rail = stepper.PrinterRail(
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config, need_position_minmax=False, default_position_endstop=0.)
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self.steppers = self.rail.get_steppers()
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else:
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self.can_home = False
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self.rail = stepper.PrinterStepper(config)
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self.steppers = [self.rail]
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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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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_free_moves = ffi_lib.trapq_free_moves
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self.rail.setup_itersolve('cartesian_stepper_alloc', 'x')
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self.rail.set_trapq(self.trapq)
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self.rail.set_max_jerk(9999999.9, 9999999.9)
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# Register commands
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stepper_name = config.get_name().split()[1]
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
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stepper_name, self.cmd_MANUAL_STEPPER,
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desc=self.cmd_MANUAL_STEPPER_help)
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def sync_print_time(self):
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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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if self.next_cmd_time > print_time:
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toolhead.dwell(self.next_cmd_time - print_time)
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else:
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self.next_cmd_time = print_time
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def do_enable(self, enable):
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self.sync_print_time()
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stepper_enable = self.printer.lookup_object('stepper_enable')
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if enable:
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for s in self.steppers:
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se = stepper_enable.lookup_enable(s.get_name())
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se.motor_enable(self.next_cmd_time)
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else:
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for s in self.steppers:
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se = stepper_enable.lookup_enable(s.get_name())
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se.motor_disable(self.next_cmd_time)
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self.sync_print_time()
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def do_set_position(self, setpos):
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self.rail.set_position([setpos, 0., 0.])
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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.rail.get_commanded_position()
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dist = movepos - cp
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axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
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dist, speed, accel)
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self.trapq_append(self.trapq, self.next_cmd_time,
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accel_t, cruise_t, accel_t,
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cp, 0., 0., axis_r, 0., 0.,
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0., cruise_v, accel)
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self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t
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self.rail.generate_steps(self.next_cmd_time)
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self.trapq_free_moves(self.trapq, self.next_cmd_time + 99999.9)
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.note_kinematic_activity(self.next_cmd_time)
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self.sync_print_time()
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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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# Start endstop checking
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self.sync_print_time()
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endstops = self.rail.get_endstops()
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for mcu_endstop, name in endstops:
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min_step_dist = min([s.get_step_dist()
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for s in mcu_endstop.get_steppers()])
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mcu_endstop.home_start(
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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, 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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did_trigger = mcu_endstop.home_wait(self.next_cmd_time)
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if not did_trigger and error is None:
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error = "Failed to home %s: Timeout during homing" % (name,)
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self.sync_print_time()
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if error is not None:
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raise homing.CommandError(error)
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cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
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def cmd_MANUAL_STEPPER(self, params):
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if 'ENABLE' in params:
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self.do_enable(self.gcode.get_int('ENABLE', params))
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if 'SET_POSITION' in params:
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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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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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self.do_move(movepos, speed, accel)
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def load_config_prefix(config):
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return ManualStepper(config)
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