mirror of https://github.com/Desuuuu/klipper.git
64 lines
2.5 KiB
Python
64 lines
2.5 KiB
Python
# Utility for moving a stepper back and forth to help identify it
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#
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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 chelper
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BUZZ_VELOCITY = 4.
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class StepperBuzz:
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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.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
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self.move_fill = ffi_lib.move_fill
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self.stepper_kinematics = ffi_main.gc(
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ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
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def register_stepper(self, stepper, name):
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self.steppers[name] = stepper
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# Register STEPPER_BUZZ command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_mux_command(
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'STEPPER_BUZZ', 'STEPPER', name, self.cmd_STEPPER_BUZZ,
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desc=self.cmd_STEPPER_BUZZ_help)
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def manual_move(self, print_time, stepper, start_pos, dist):
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self.move_fill(
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self.cmove, print_time, 0., abs(dist / BUZZ_VELOCITY), 0.,
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start_pos, 0., 0., dist, 0., 0., 0., BUZZ_VELOCITY, 0.)
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stepper.step_itersolve(self.cmove)
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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, params):
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name = self.gcode.get_str('STEPPER', params)
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logging.info("Stepper buzz %s", name)
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stepper = self.steppers[name]
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need_motor_enable = not stepper.is_motor_enabled()
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# Move stepper
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.wait_moves()
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pos = stepper.get_commanded_position()
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print_time = toolhead.get_last_move_time()
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if need_motor_enable:
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stepper.motor_enable(print_time, 1)
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print_time += .1
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was_ignore = stepper.set_ignore_move(False)
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prev_sk = stepper.setup_itersolve(self.stepper_kinematics)
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for i in range(10):
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self.manual_move(print_time, stepper, 0., 1.)
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print_time += .3
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self.manual_move(print_time, stepper, 1., -1.)
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toolhead.reset_print_time(print_time + .7)
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print_time = toolhead.get_last_move_time()
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stepper.setup_itersolve(prev_sk)
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stepper.set_ignore_move(was_ignore)
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if need_motor_enable:
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print_time += .1
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stepper.motor_enable(print_time, 0)
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toolhead.reset_print_time(print_time)
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def load_config(config):
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return StepperBuzz(config)
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