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manual_stepper: Support position_min and position_max options

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-04-30 19:18:50 -04:00
parent 64e01f03a2
commit ee0bc3d697
2 changed files with 19 additions and 2 deletions
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7
docs/Config_Reference.md
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@ -2540,6 +2540,13 @@ printer kinematics.
# Endstop switch detection pin. If specified, then one may perform # Endstop switch detection pin. If specified, then one may perform
# "homing moves" by adding a STOP_ON_ENDSTOP parameter to # "homing moves" by adding a STOP_ON_ENDSTOP parameter to
# MANUAL_STEPPER movement commands. # MANUAL_STEPPER movement commands.
#position_min:
#position_max:
# The minimum and maximum position the stepper can be commanded to
# move to. If specified then one may not command the stepper to move
# past the given position. Note that these limits do not prevent
# setting an arbitrary position with the `MANUAL_STEPPER
# SET_POSITION=x` command. The default is to not enforce a limit.
``` ```
## Custom heaters and sensors ## Custom heaters and sensors

14
klippy/extras/manual_stepper.py
View file

@ -22,6 +22,8 @@ class ManualStepper:
self.velocity = config.getfloat('velocity', 5., above=0.) self.velocity = config.getfloat('velocity', 5., above=0.)
self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.) self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
self.next_cmd_time = 0. self.next_cmd_time = 0.
self.pos_min = config.getfloat('position_min', None)
self.pos_max = config.getfloat('position_max', None)
# Setup iterative solver # Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@ -107,10 +109,16 @@ class ManualStepper:
homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0) homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0)
if homing_move: if homing_move:
movepos = gcmd.get_float('MOVE') movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise gcmd.error("Move out of range")
self.do_homing_move(movepos, speed, accel, self.do_homing_move(movepos, speed, accel,
homing_move > 0, abs(homing_move) == 1) homing_move > 0, abs(homing_move) == 1)
elif gcmd.get_float('MOVE', None) is not None: elif gcmd.get_float('MOVE', None) is not None:
movepos = gcmd.get_float('MOVE') movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise gcmd.error("Move out of range")
sync = gcmd.get_int('SYNC', 1) sync = gcmd.get_int('SYNC', 1)
self.do_move(movepos, speed, accel, sync) self.do_move(movepos, speed, accel, sync)
elif gcmd.get_int('SYNC', 0): elif gcmd.get_int('SYNC', 0):
@ -155,10 +163,12 @@ class ManualStepper:
1., 0., 0., 1., 0., 0.,
start_v, cruise_v, accel) start_v, cruise_v, accel)
def check_move(self, move, ea_index): def check_move(self, move, ea_index):
# XXX - support out of bounds checks movepos = move.end_pos[ea_index]
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise move.move_error()
# XXX - support max accel/velocity # XXX - support max accel/velocity
# XXX - support non-kinematic max accel/velocity # XXX - support non-kinematic max accel/velocity
pass
def calc_junction(self, prev_move, move, ea_index): def calc_junction(self, prev_move, move, ea_index):
diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index] diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index]
if diff_r: if diff_r: