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force_move: Add support for FORCE_MOVE command

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Add initial support for commands that will forcibly move a stepper
(without updating the kinematic classes with the new position).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-26 12:12:07 -04:00
parent a434341aa9
commit c0c892d524
3 changed files with 65 additions and 5 deletions
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22
docs/G-Codes.md
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@ -180,3 +180,25 @@ The following command is available when the "tmc2130" config section
is enabled:
- `DUMP_TMC STEPPER=<name>`: This command will read the TMC2130 driver
registers and report their values.
## Force movement
The following commands are available when the "force_move" config
section is enabled:
- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value>
VELOCITY=<value>`: This command will forcibly move the given stepper
the given distance (in mm) at the given constant velocity (in
mm/s). No acceleration is performed; no boundary checks are
performed; no kinematic updates are made; other parallel steppers on
an axis will not be moved. Use caution as an incorrect command could
cause damage! Using this command will almost certainly place the
low-level kinematics in an incorrect state; issue a G28 afterwards
to reset the kinematics. This command is intended for low-level
diagnostics and debugging.
- `SET_KINEMATIC_POSITION X=<value> Y=<value> Z=<value>`: Force the
low-level kinematic code to believe the toolhead is at the given
position. This is a diagnostic and debugging command; use
SET_GCODE_OFFSET and/or G92 for regular axis transformations.
Setting an incorrect or invalid position may lead to internal
software errors. This command may invalidate future boundary checks;
issue a G28 afterwards to reset the kinematics.