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stepper: Calculate step_distance from rotation_distance

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Add support for automatically calculating the internal step_distance
from new config parameters - rotation_distance, microsteps,
full_steps_per_rotation, and gear_ratio.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-01-05 20:19:43 -05:00
parent 4a41d228eb
commit 7dcc778b6c
11 changed files with 128 additions and 60 deletions
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81
docs/Config_Reference.md
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@ -127,9 +127,24 @@ enable_pin:
# Enable pin (default is enable high; use ! to indicate enable
# low). If this parameter is not provided then the stepper motor
# driver must always be enabled.
step_distance:
# Distance in mm that each step causes the axis to travel. This
rotation_distance:
# Distance (in mm) that the axis travels with one full rotation of
# the stepper motor. This parameter must be provided.
microsteps:
# The number of microsteps the stepper motor driver uses. This
# parameter must be provided.
#full_steps_per_rotation: 200
# The number of full steps for one rotation of the stepper motor.
# Set this to 200 for a 1.8 degree stepper motor or set to 400 for a
# 0.9 degree motor. The default is 200.
#gear_ratio:
# The gear ratio if the stepper motor is connected to the axis via a
# gearbox. For example, one may specify "5:1" if a 5 to 1 gearbox is
# in use. If the axis has multiple gearboxes one may specify a comma
# separated list of gear ratios (for example, "57:11, 2:1"). If a
# gear_ratio is specified then rotation_distance specifies the
# distance the axis travels for one full rotation of the final gear.
# The default is to not use a gear ratio.
endstop_pin:
# Endstop switch detection pin. This parameter must be provided for
# the X, Y, and Z steppers on cartesian style printers.
@ -367,11 +382,11 @@ kinematics: polar
# The stepper_bed section is used to describe the stepper controlling
# the bed.
[stepper_bed]
step_distance:
# On a polar printer the step_distance is the amount each step pulse
# moves the bed in radians (for example, a 1.8 degree stepper with
# 16 micro-steps would be 2 * pi * (1.8 / 360) / 16 == 0.001963495).
# This parameter must be provided.
gear_ratio:
# A gear_ratio must be specified and rotation_distance may not be
# specified. For example, if the bed has an 80 toothed pulley driven
# by a stepper with a 16 toothed pulley then one would specify a
# gear ratio of "80:16". This parameter must be provided.
max_z_velocity:
# This sets the maximum velocity (in mm/s) of movement along the z
# axis. This setting can be used to restrict the maximum speed of
@ -429,11 +444,13 @@ shoulder_height:
# right arm (at 30 degrees). This section also controls the homing
# parameters (homing_speed, homing_retract_dist) for all arms.
[stepper_a]
step_distance:
# On a rotary delta printer the step_distance is the amount each
# step pulse moves the upper arm in radians (for example, a directly
# connected 1.8 degree stepper with 16 micro-steps would be 2 * pi *
# (1.8 / 360) / 16 == 0.001963495). This parameter must be provided.
gear_ratio:
# A gear_ratio must be specified and rotation_distance may not be
# specified. For example, if the arm has an 80 toothed pulley driven
# by a pulley with 16 teeth, which is in turn connected to a 60
# toothed pulley driven by a stepper with a 16 toothed pulley, then
# one would specify a gear ratio of "80:16, 60:16". This parameter
# must be provided.
position_endstop:
# Distance (in mm) between the nozzle and the bed when the nozzle is
# in the center of the build area and the endstop triggers. This
@ -501,10 +518,10 @@ kinematics: winch
# cable winch. A minimum of 3 and a maximum of 26 cable winches may be
# defined (stepper_a to stepper_z) though it is common to define 4.
[stepper_a]
step_distance:
# The step_distance is the nominal distance (in mm) the toolhead
# moves towards the cable winch on each step pulse. This parameter
# must be provided.
rotation_distance:
# The rotation_distance is the nominal distance (in mm) the toolhead
# moves towards the cable winch for each full rotation of the
# stepper motor. This parameter must be provided.
anchor_x:
anchor_y:
anchor_z:
@ -541,7 +558,8 @@ tuning pressure advance.
step_pin:
dir_pin:
enable_pin:
step_distance:
microsteps:
rotation_distance:
# See the "stepper" section for a description of the above parameters.
nozzle_diameter:
# Diameter of the nozzle orifice (in mm). This parameter must be
@ -1613,7 +1631,8 @@ at 1 (for example, "stepper_z1", "stepper_z2", etc.).
#step_pin:
#dir_pin:
#enable_pin:
#step_distance:
#microsteps:
#rotation_distance:
# See the "stepper" section for the definition of the above parameters.
#endstop_pin:
# If an endstop_pin is defined for the additional stepper then the
@ -1670,7 +1689,8 @@ axis:
#step_pin:
#dir_pin:
#enable_pin:
#step_distance:
#microsteps:
#rotation_distance:
#endstop_pin:
#position_endstop:
#position_min:
@ -1695,7 +1715,8 @@ more information.
#step_pin:
#dir_pin:
#enable_pin:
#step_distance:
#microsteps:
#rotation_distance:
# See the "stepper" section for the definition of the above
# parameters.
```
@ -1715,7 +1736,8 @@ normal printer kinematics.
#step_pin:
#dir_pin:
#enable_pin:
#step_distance:
#microsteps:
#rotation_distance:
# See the "stepper" section for a description of these parameters.
#velocity:
# Set the default velocity (in mm/s) for the stepper. This value
@ -2531,10 +2553,6 @@ cs_pin:
#spi_software_miso_pin:
# See the "common SPI settings" section for a description of the
# above parameters.
microsteps:
# The number of microsteps to configure the driver to use. Valid
# values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must
# be provided.
#interpolate: True
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). The default is True.
@ -2601,10 +2619,6 @@ uart_pin:
# A comma separated list of pins to set prior to accessing the
# tmc2208 UART. This may be useful for configuring an analog mux for
# UART communication. The default is to not configure any pins.
microsteps:
# The number of microsteps to configure the driver to use. Valid
# values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must
# be provided.
#interpolate: True
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). The default is True.
@ -2654,7 +2668,6 @@ by the name of the corresponding stepper config section (for example,
uart_pin:
#tx_pin:
#select_pins:
#microsteps:
#interpolate: True
run_current:
#hold_current:
@ -2715,10 +2728,6 @@ cs_pin:
#spi_software_miso_pin:
# See the "common SPI settings" section for a description of the
# above parameters.
microsteps:
# The number of microsteps to configure the driver to use. Valid
# values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must
# be provided.
#interpolate: True
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). This only works if microsteps
@ -2786,10 +2795,6 @@ cs_pin:
#spi_software_miso_pin:
# See the "common SPI settings" section for a description of the
# above parameters.
microsteps:
# The number of microsteps to configure the driver to use. Valid
# values are 1, 2, 4, 8, 16, 32, 64, 128, 256. This parameter must
# be provided.
#interpolate: True
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). The default is True.