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z_tilt: Add support for Z_TILT_ADJUST

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Add new module to support independent adjustments to multiple Z
steppers to account for bed tilt.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-21 14:48:01 -04:00
parent 4bf1b042b1
commit 3025638b9b
5 changed files with 152 additions and 2 deletions
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13
klippy/mcu.py
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@ -23,6 +23,7 @@ class MCU_stepper:
self._min_stop_interval = 0.
self._reset_cmd_id = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
self._stepcompress_push_const = self._stepcompress_push_delta = None
def get_mcu(self):
return self._mcu
def setup_dir_pin(self, pin_params):
@ -60,6 +61,7 @@ class MCU_stepper:
self._invert_dir, self._oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
self.set_ignore_move(False)
def get_oid(self):
return self._oid
def get_step_dist(self):
@ -75,6 +77,13 @@ class MCU_stepper:
if mcu_pos >= 0.:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
def set_ignore_move(self, ignore_move):
if ignore_move:
self._stepcompress_push_const = (lambda *args: 0)
self._stepcompress_push_delta = (lambda *args: 0)
else:
self._stepcompress_push_const = self._ffi_lib.stepcompress_push_const
self._stepcompress_push_delta = self._ffi_lib.stepcompress_push_delta
def note_homing_start(self, homing_clock):
ret = self._ffi_lib.stepcompress_set_homing(
self._stepqueue, homing_clock)
@ -109,7 +118,7 @@ class MCU_stepper:
def step_const(self, print_time, start_pos, dist, start_v, accel):
inv_step_dist = self._inv_step_dist
step_offset = self._commanded_pos - start_pos * inv_step_dist
count = self._ffi_lib.stepcompress_push_const(
count = self._stepcompress_push_const(
self._stepqueue, print_time, step_offset, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist)
if count == STEPCOMPRESS_ERROR_RET:
@ -119,7 +128,7 @@ class MCU_stepper:
, height_base, startxy_d, arm_d, movez_r):
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta(
count = self._stepcompress_push_delta(
self._stepqueue, print_time, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist,
height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)