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manual_stepper: Add support for moves with acceleration

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-03-03 13:23:45 -05:00
parent 399d539969
commit d62a41b930
6 changed files with 77 additions and 42 deletions
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32
klippy/extras/force_move.py
View file

@ -3,12 +3,25 @@
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import math, logging
import chelper
BUZZ_VELOCITY = 4.
STALL_TIME = 0.100
# Calculate a move's accel_t, cruise_t, and cruise_v
def calc_move_time(dist, speed, accel):
dist = abs(dist)
if not accel:
return 0., dist / speed, speed
max_cruise_v2 = dist * accel
if max_cruise_v2 < speed**2:
speed = math.sqrt(max_cruise_v2)
accel_t = speed / accel
accel_decel_d = accel_t * speed
cruise_t = (dist - accel_decel_d) / speed
return accel_t, cruise_t, speed
class ForceMove:
def __init__(self, config):
self.printer = config.get_printer()
@ -49,17 +62,17 @@ class ForceMove:
print_time = toolhead.get_last_move_time()
stepper.motor_enable(print_time, 0)
toolhead.dwell(STALL_TIME)
def manual_move(self, stepper, dist, speed):
def manual_move(self, stepper, dist, speed, accel=0.):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
move_t = abs(dist / speed)
prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
stepper.set_position((0., 0., 0.))
self.move_fill(self.cmove, print_time, 0., move_t, 0.,
0., 0., 0., dist, 0., 0., 0., speed, 0.)
accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
self.move_fill(self.cmove, print_time, accel_t, cruise_t, accel_t,
0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
stepper.step_itersolve(self.cmove)
stepper.set_stepper_kinematics(prev_sk)
toolhead.dwell(move_t)
toolhead.dwell(accel_t + cruise_t + accel_t)
def _lookup_stepper(self, params):
name = self.gcode.get_str('STEPPER', params)
if name not in self.steppers:
@ -82,10 +95,11 @@ class ForceMove:
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)
accel = self.gcode.get_float('ACCEL', params, 0., minval=0.)
logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
stepper.get_name(), distance, speed, accel)
was_enable, was_ignore = self.force_enable(stepper)
self.manual_move(stepper, distance, speed)
self.manual_move(stepper, distance, speed, accel)
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):

29
klippy/extras/manual_stepper.py
View file

@ -3,7 +3,7 @@
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, homing, chelper
import stepper, homing, force_move, chelper
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
@ -18,6 +18,8 @@ class ManualStepper:
else:
self.can_home = False
self.stepper = stepper.PrinterStepper(config)
self.velocity = config.getfloat('velocity', 5., above=0.)
self.accel = config.getfloat('accel', 0., minval=0.)
self.next_cmd_time = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
@ -46,17 +48,20 @@ class ManualStepper:
self.sync_print_time()
def do_set_position(self, setpos):
self.stepper.set_position([setpos, 0., 0.])
def do_move(self, movepos, speed):
def do_move(self, movepos, speed, accel):
self.sync_print_time()
cp = self.stepper.get_commanded_position()
dist = movepos - cp
move_t = abs(dist / speed)
self.move_fill(self.cmove, self.next_cmd_time, 0., move_t, 0.,
cp, 0., 0., dist, 0., 0., 0., speed, 0.)
accel_t, cruise_t, cruise_v = force_move.calc_move_time(
dist, speed, accel)
self.move_fill(self.cmove, self.next_cmd_time,
accel_t, cruise_t, accel_t,
cp, 0., 0., dist, 0., 0.,
0., cruise_v, accel)
self.stepper.step_itersolve(self.cmove)
self.next_cmd_time += move_t
self.next_cmd_time += accel_t + cruise_t + accel_t
self.sync_print_time()
def do_homing_move(self, movepos, speed, triggered):
def do_homing_move(self, movepos, speed, accel, triggered):
if not self.can_home:
raise self.gcode.error("No endstop for this manual stepper")
# Notify endstops of upcoming home
@ -72,7 +77,7 @@ class ManualStepper:
self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
min_step_dist / speed, triggered=triggered)
# Issue move
self.do_move(movepos, speed)
self.do_move(movepos, speed, accel)
# Wait for endstops to trigger
error = None
for mcu_endstop, name in endstops:
@ -98,18 +103,18 @@ class ManualStepper:
setpos = self.gcode.get_float('SET_POSITION', params)
self.do_set_position(setpos)
homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0)
speed = self.gcode.get_float('SPEED', params, self.velocity, above=0.)
accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.)
if homing_move:
movepos = self.gcode.get_float('MOVE', params)
speed = self.gcode.get_float('SPEED', params, above=0.)
if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
self.do_enable(True)
self.do_homing_move(movepos, speed, homing_move > 0)
self.do_homing_move(movepos, speed, accel, homing_move > 0)
elif 'MOVE' in params:
movepos = self.gcode.get_float('MOVE', params)
speed = self.gcode.get_float('SPEED', params, above=0.)
if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
self.do_enable(True)
self.do_move(movepos, speed)
self.do_move(movepos, speed, accel)
def handle_motor_off(self, print_time):
self.do_enable(0)