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force_move: Rename stepper_buzz.py to force_move.py

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This is in preparation for extending the ability to make manual moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-26 11:15:51 -04:00
parent 13ccb1a46f
commit 2c5eba44ee
2 changed files with 12 additions and 10 deletions
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63
klippy/extras/stepper_buzz.py
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@ -1,63 +0,0 @@
# Utility for moving a stepper back and forth to help identify it
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import chelper
BUZZ_VELOCITY = 4.
class StepperBuzz:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = {}
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.stepper_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
def register_stepper(self, stepper, name):
self.steppers[name] = stepper
# Register STEPPER_BUZZ command
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_mux_command(
'STEPPER_BUZZ', 'STEPPER', name, self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
def manual_move(self, print_time, stepper, start_pos, dist):
self.move_fill(
self.cmove, print_time, 0., abs(dist / BUZZ_VELOCITY), 0.,
start_pos, 0., 0., dist, 0., 0., 0., BUZZ_VELOCITY, 0.)
stepper.step_itersolve(self.cmove)
cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
def cmd_STEPPER_BUZZ(self, params):
name = self.gcode.get_str('STEPPER', params)
logging.info("Stepper buzz %s", name)
stepper = self.steppers[name]
need_motor_enable = not stepper.is_motor_enabled()
# Move stepper
toolhead = self.printer.lookup_object('toolhead')
toolhead.wait_moves()
pos = stepper.get_commanded_position()
print_time = toolhead.get_last_move_time()
if need_motor_enable:
stepper.motor_enable(print_time, 1)
print_time += .1
was_ignore = stepper.set_ignore_move(False)
prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
for i in range(10):
self.manual_move(print_time, stepper, 0., 1.)
print_time += .3
self.manual_move(print_time, stepper, 1., -1.)
toolhead.reset_print_time(print_time + .7)
print_time = toolhead.get_last_move_time()
stepper.set_stepper_kinematics(prev_sk)
stepper.set_ignore_move(was_ignore)
if need_motor_enable:
print_time += .1
stepper.motor_enable(print_time, 0)
toolhead.reset_print_time(print_time)
def load_config(config):
return StepperBuzz(config)