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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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29
klippy/extras/manual_stepper.py
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@ -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)