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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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2
test/klippy/manual_stepper.cfg
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@ -4,6 +4,8 @@ step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .0125
velocity: 7
accel: 500
[manual_stepper homing_stepper]
step_pin: ar60

6
test/klippy/manual_stepper.test
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@ -6,14 +6,14 @@ DICTIONARY atmega2560-16mhz.dict
MANUAL_STEPPER STEPPER=basic_stepper ENABLE=1
MANUAL_STEPPER STEPPER=basic_stepper SET_POSITION=0
MANUAL_STEPPER STEPPER=basic_stepper MOVE=10 SPEED=10
MANUAL_STEPPER STEPPER=basic_stepper MOVE=5 SPEED=5
MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12
MANUAL_STEPPER STEPPER=basic_stepper MOVE=5
MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12 ACCEL=9000.2
MANUAL_STEPPER STEPPER=basic_stepper ENABLE=0
# Test homing move
MANUAL_STEPPER STEPPER=homing_stepper ENABLE=1
MANUAL_STEPPER STEPPER=homing_stepper SET_POSITION=0
MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=10
MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=100 ACCEL=1
MANUAL_STEPPER STEPPER=homing_stepper ENABLE=0
# Test motor off