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https://github.com/Klipper3d/klipper.git
synced 2025-07-10 00:07:54 -06:00
stepper: Replace PrinterHomingStepper with PrinterRail
Update the code to use the term "rail" when dealing with a motor controlled "axis". A rail has a series of steppers and endstops that control that motor controlled "axis". Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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parent
93d0526a77
commit
0791c69499
7 changed files with 200 additions and 194 deletions
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@ -6,6 +6,11 @@
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import math, logging, collections
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import homing, chelper
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######################################################################
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# Stepper enable pins
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######################################################################
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# Tracking of shared stepper enable pins
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class StepperEnablePin:
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def __init__(self, mcu_enable, enable_count=0):
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@ -32,6 +37,11 @@ def lookup_enable_pin(ppins, pin):
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pin_params['class'] = enable = StepperEnablePin(mcu_enable)
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return enable
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######################################################################
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# Steppers
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######################################################################
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# Code storing the definitions for a stepper motor
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class PrinterStepper:
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def __init__(self, config):
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@ -53,6 +63,7 @@ class PrinterStepper:
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self.step_itersolve = self.mcu_stepper.step_itersolve
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self.setup_itersolve = self.mcu_stepper.setup_itersolve
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self.set_ignore_move = self.mcu_stepper.set_ignore_move
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self.set_position = self.mcu_stepper.set_position
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self.get_mcu_position = self.mcu_stepper.get_mcu_position
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self.get_commanded_position = self.mcu_stepper.get_commanded_position
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self.get_step_dist = self.mcu_stepper.get_step_dist
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@ -75,8 +86,6 @@ class PrinterStepper:
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2. * step_dist, max_halt_velocity, max_accel)
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min_stop_interval = second_last_step_time - last_step_time
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self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
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def set_position(self, pos):
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self.mcu_stepper.set_position(pos)
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def motor_enable(self, print_time, enable=0):
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if self.need_motor_enable != (not enable):
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self.enable.set_enable(print_time, enable)
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@ -84,15 +93,29 @@ class PrinterStepper:
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def is_motor_enabled(self):
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return not self.need_motor_enable
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# Support for stepper controlled linear axis with an endstop
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class PrinterHomingStepper(PrinterStepper):
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######################################################################
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# Stepper controlled rails
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######################################################################
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# A motor control "rail" with one (or more) steppers and one (or more)
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# endstops.
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class PrinterRail:
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def __init__(self, config, need_position_minmax=True,
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default_position_endstop=None):
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PrinterStepper.__init__(self, config)
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# Endstop and its position
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# Primary stepper
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stepper = PrinterStepper(config)
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self.steppers = [stepper]
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self.name = stepper.get_name(short=True)
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self.step_itersolve = stepper.step_itersolve
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self.setup_itersolve = stepper.setup_itersolve
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self.get_commanded_position = stepper.get_commanded_position
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self.is_motor_enabled = stepper.is_motor_enabled
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# Primary endstop and its position
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ppins = config.get_printer().lookup_object('pins')
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self.mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
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self.add_to_endstop(self.mcu_endstop)
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mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
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self.endstops = [(mcu_endstop, self.name)]
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stepper.add_to_endstop(mcu_endstop)
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if default_position_endstop is None:
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self.position_endstop = config.getfloat('position_endstop')
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else:
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@ -133,7 +156,7 @@ class PrinterHomingStepper(PrinterStepper):
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'homing_endstop_accuracy', None, above=0.)
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self.homing_endstop_accuracy = self.homing_endstop_phase = None
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if self.homing_stepper_phases:
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step_dist = self.get_step_dist()
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self.homing_step_dist = step_dist = stepper.get_step_dist()
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self.homing_endstop_phase = config.getint(
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'homing_endstop_phase', None, minval=0
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, maxval=self.homing_stepper_phases-1)
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@ -149,7 +172,7 @@ class PrinterHomingStepper(PrinterStepper):
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+ phase_offset)
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if es_pos != self.position_endstop:
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logging.info("Changing %s endstop position to %.3f"
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" (from %.3f)", self.get_name(short=True),
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" (from %.3f)", self.name,
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es_pos, self.position_endstop)
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self.position_endstop = es_pos
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if endstop_accuracy is None:
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@ -162,32 +185,17 @@ class PrinterHomingStepper(PrinterStepper):
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endstop_accuracy / step_dist))
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if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
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logging.info("Endstop for %s is not accurate enough for stepper"
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" phase adjustment", self.get_name(short=True))
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" phase adjustment", self.name)
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self.homing_stepper_phases = None
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if self.mcu_endstop.get_mcu().is_fileoutput():
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if mcu_endstop.get_mcu().is_fileoutput():
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self.homing_endstop_accuracy = self.homing_stepper_phases
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def setup_cartesian_itersolve(self, axis):
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ffi_main, ffi_lib = chelper.get_ffi()
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self.setup_itersolve(ffi_main.gc(
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ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
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def get_range(self):
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return self.position_min, self.position_max
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def get_homing_info(self):
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homing_info = collections.namedtuple('homing_info', [
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'speed', 'position_endstop', 'retract_dist', 'positive_dir'])(
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self.homing_speed, self.position_endstop,
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self.homing_retract_dist, self.homing_positive_dir)
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return homing_info
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def get_endstops(self):
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return [(self.mcu_endstop, self.get_name(short=True))]
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def get_homed_offset(self):
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if not self.homing_stepper_phases or self.need_motor_enable:
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if not self.homing_stepper_phases:
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return 0.
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pos = self.mcu_stepper.get_mcu_position()
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pos = self.steppers[0].get_mcu_position()
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pos %= self.homing_stepper_phases
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if self.homing_endstop_phase is None:
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logging.info("Setting %s endstop phase to %d",
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self.get_name(short=True), pos)
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logging.info("Setting %s endstop phase to %d", self.name, pos)
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self.homing_endstop_phase = pos
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return 0.
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delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
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@ -196,57 +204,57 @@ class PrinterHomingStepper(PrinterStepper):
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elif delta > self.homing_endstop_accuracy:
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raise homing.EndstopError(
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"Endstop %s incorrect phase (got %d vs %d)" % (
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self.get_name(short=True), pos, self.homing_endstop_phase))
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return delta * self.get_step_dist()
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# Wrapper for dual stepper motor support
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class PrinterMultiStepper(PrinterHomingStepper):
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def __init__(self, config):
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PrinterHomingStepper.__init__(self, config)
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self.endstops = PrinterHomingStepper.get_endstops(self)
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self.extras = []
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self.all_step_itersolve = [self.step_itersolve]
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for i in range(1, 99):
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if not config.has_section(config.get_name() + str(i)):
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break
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extraconfig = config.getsection(config.get_name() + str(i))
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extra = PrinterStepper(extraconfig)
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self.extras.append(extra)
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self.all_step_itersolve.append(extra.step_itersolve)
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mcu_endstop = self.mcu_endstop
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extraendstop = extraconfig.get('endstop_pin', None)
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if extraendstop is not None:
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ppins = config.get_printer().lookup_object('pins')
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mcu_endstop = ppins.setup_pin('endstop', extraendstop)
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self.endstops.append((mcu_endstop, extra.get_name(short=True)))
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extra.add_to_endstop(mcu_endstop)
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self.name, pos, self.homing_endstop_phase))
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return delta * self.homing_step_dist
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def get_range(self):
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return self.position_min, self.position_max
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def get_homing_info(self):
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homing_info = collections.namedtuple('homing_info', [
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'speed', 'position_endstop', 'retract_dist', 'positive_dir'])(
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self.homing_speed, self.position_endstop,
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self.homing_retract_dist, self.homing_positive_dir)
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return homing_info
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def get_steppers(self):
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return list(self.steppers)
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def get_endstops(self):
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return list(self.endstops)
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def add_extra_stepper(self, config):
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stepper = PrinterStepper(config)
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self.steppers.append(stepper)
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self.step_itersolve = self.step_multi_itersolve
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mcu_endstop = self.endstops[0][0]
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endstop_pin = config.get('endstop_pin', None)
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if endstop_pin is not None:
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ppins = config.get_printer().lookup_object('pins')
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mcu_endstop = ppins.setup_pin('endstop', endstop_pin)
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self.endstops.append((mcu_endstop, stepper.get_name(short=True)))
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stepper.add_to_endstop(mcu_endstop)
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def add_to_endstop(self, mcu_endstop):
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for stepper in self.steppers:
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stepper.add_to_endstop(mcu_endstop)
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def step_multi_itersolve(self, cmove):
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for step_itersolve in self.all_step_itersolve:
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step_itersolve(cmove)
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for stepper in self.steppers:
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stepper.step_itersolve(cmove)
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def setup_cartesian_itersolve(self, axis):
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ffi_main, ffi_lib = chelper.get_ffi()
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self.setup_itersolve(ffi_main.gc(
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ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
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for extra in self.extras:
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extra.setup_itersolve(ffi_main.gc(
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for stepper in self.steppers:
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stepper.setup_itersolve(ffi_main.gc(
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ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
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def set_max_jerk(self, max_halt_velocity, max_accel):
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PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel)
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for extra in self.extras:
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extra.set_max_jerk(max_halt_velocity, max_accel)
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for stepper in self.steppers:
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stepper.set_max_jerk(max_halt_velocity, max_accel)
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def set_position(self, pos):
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PrinterHomingStepper.set_position(self, pos)
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for extra in self.extras:
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extra.set_position(pos)
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for stepper in self.steppers:
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stepper.set_position(pos)
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def motor_enable(self, print_time, enable=0):
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PrinterHomingStepper.motor_enable(self, print_time, enable)
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for extra in self.extras:
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extra.motor_enable(print_time, enable)
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def get_endstops(self):
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return self.endstops
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for stepper in self.steppers:
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stepper.motor_enable(print_time, enable)
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def LookupMultiHomingStepper(config):
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if not config.has_section(config.get_name() + '1'):
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return PrinterHomingStepper(config)
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return PrinterMultiStepper(config)
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# Wrapper for dual stepper motor support
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def LookupMultiRail(config):
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rail = PrinterRail(config)
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for i in range(1, 99):
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if not config.has_section(config.get_name() + str(i)):
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break
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rail.add_extra_stepper(config.getsection(config.get_name() + str(i)))
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return rail
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