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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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39
klippy/extras/force_move.py
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@ -19,10 +19,16 @@ class ForceMove:
self.move_fill = ffi_lib.move_fill
self.stepper_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
# Register STEPPER_BUZZ command
# Register commands
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
if config.getboolean("enable_force_move", False):
self.gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE,
desc=self.cmd_FORCE_MOVE_help)
self.gcode.register_command(
'SET_KINEMATIC_POSITION', self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help)
def register_stepper(self, stepper):
name = stepper.get_name()
self.steppers[name] = stepper
@ -54,13 +60,15 @@ class ForceMove:
stepper.step_itersolve(self.cmove)
stepper.set_stepper_kinematics(prev_sk)
toolhead.dwell(move_t)
cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
def cmd_STEPPER_BUZZ(self, params):
def _lookup_stepper(self, params):
name = self.gcode.get_str('STEPPER', params)
if name not in self.steppers:
raise self.gcode.error("Unknown stepper %s" % (name,))
stepper = self.steppers[name]
logging.info("Stepper buzz %s", name)
return self.steppers[name]
cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
def cmd_STEPPER_BUZZ(self, params):
stepper = self._lookup_stepper(params)
logging.info("Stepper buzz %s", stepper.get_name())
was_enable, was_ignore = self.force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead')
for i in range(10):
@ -69,6 +77,27 @@ class ForceMove:
self.manual_move(stepper, -1., BUZZ_VELOCITY)
toolhead.dwell(.450)
self.restore_enable(stepper, was_enable, was_ignore)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, params):
stepper = self._lookup_stepper(params)
distance = self.gcode.get_float('DISTANCE', params)
speed = self.gcode.get_float('VELOCITY', params, above=0.)
logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f",
stepper.get_name(), distance, speed)
was_enable, was_ignore = self.force_enable(stepper)
self.manual_move(stepper, distance, speed)
self.restore_enable(stepper, True, was_ignore)
cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
def cmd_SET_KINEMATIC_POSITION(self, params):
x = self.gcode.get_float('X', params)
y = self.gcode.get_float('Y', params)
z = self.gcode.get_float('Z', params)
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
toolhead = self.printer.lookup_object('toolhead')
toolhead.get_last_move_time()
curpos = toolhead.get_position()
toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
self.gcode.reset_last_position()
def load_config(config):
return ForceMove(config)