3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-08-05 13:04:05 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

manual_stepper: Add support for moves with acceleration

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

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):