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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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43
klippy/stepper.py
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@ -183,7 +183,7 @@ def PrinterStepper(config, units_in_radians=False):
step_pin_params = ppins.lookup_pin(step_pin, can_invert=True)
dir_pin = config.get('dir_pin')
dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True)
step_dist = config.getfloat('step_distance', above=0.)
step_dist = parse_step_distance(config, units_in_radians, True)
mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist,
units_in_radians)
# Support for stepper enable pin handling
@ -194,6 +194,47 @@ def PrinterStepper(config, units_in_radians=False):
force_move.register_stepper(mcu_stepper)
return mcu_stepper
# Parse stepper gear_ratio config parameter
def parse_gear_ratio(config, note_valid):
gear_ratio = config.get('gear_ratio', None, note_valid=note_valid)
if gear_ratio is None:
return 1.
result = 1.
try:
gears = gear_ratio.split(',')
for gear in gears:
g1, g2 = [float(v.strip()) for v in gear.split(':')]
result *= g1 / g2
except:
raise config.error("Unable to parse gear_ratio: %s" % (gear_ratio,))
return result
# Obtain "step distance" information from a config section
def parse_step_distance(config, units_in_radians=None, note_valid=False):
if units_in_radians is None:
# Caller doesn't know if units are in radians - infer it
rd = config.get('rotation_distance', None, note_valid=False)
gr = config.get('gear_ratio', None, note_valid=False)
units_in_radians = rd is None and gr is not None
if units_in_radians:
rotation_dist = 2. * math.pi
config.get('gear_ratio', note_valid=note_valid)
else:
rotation_dist = config.getfloat('rotation_distance', None,
above=0., note_valid=note_valid)
if rotation_dist is None:
# Older config format with step_distance
return config.getfloat('step_distance', above=0., note_valid=note_valid)
# Newer config format with rotation_distance
microsteps = config.getint('microsteps', minval=1, note_valid=note_valid)
full_steps = config.getint('full_steps_per_rotation', 200, minval=1,
note_valid=note_valid)
if full_steps % 4:
raise config.error("full_steps_per_rotation invalid in section '%s'"
% (config.get_name(),))
gearing = parse_gear_ratio(config, note_valid)
return rotation_dist / (full_steps * microsteps * gearing)
######################################################################
# Stepper controlled rails