3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-13 01:37:55 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 3

stepper: Add STEPPER_BUZZ command

Browse source 
Add a new command that can help diagnose stepper motor connectivity.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-24 09:42:33 -04:00
parent e50c2aa38d
commit ee4f37fe0c
3 changed files with 36 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

30
klippy/stepper.py
View file

@ -35,6 +35,7 @@ def lookup_enable_pin(ppins, pin):
# Code storing the definitions for a stepper motor
class PrinterStepper:
def __init__(self, printer, config):
self.printer = printer
self.name = config.get_name()
if self.name.startswith('stepper_'):
self.name = self.name[8:]
@ -50,6 +51,11 @@ class PrinterStepper:
self.step_const = self.mcu_stepper.step_const
self.step_delta = self.mcu_stepper.step_delta
self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
# Register STEPPER_BUZZ command
self.gcode = printer.lookup_object('gcode')
self.gcode.register_mux_command(
'STEPPER_BUZZ', 'STEPPER', config.get_name(), self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
def _dist_to_time(self, dist, start_velocity, accel):
# Calculate the time it takes to travel a distance with constant accel
time_offset = start_velocity / accel
@ -68,6 +74,30 @@ class PrinterStepper:
if self.need_motor_enable != (not enable):
self.enable.set_enable(print_time, enable)
self.need_motor_enable = not enable
cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
def cmd_STEPPER_BUZZ(self, params):
logging.info("Stepper buzz %s", self.name)
need_motor_enable = self.need_motor_enable
# Move stepper
toolhead = self.printer.lookup_object('toolhead')
toolhead.wait_moves()
pos = self.mcu_stepper.get_commanded_position()
print_time = toolhead.get_last_move_time()
if need_motor_enable:
self.motor_enable(print_time, 1)
print_time += .1
was_ignore = self.mcu_stepper.set_ignore_move(False)
for i in range(10):
self.step_const(print_time, pos, 1., 4., 0.)
print_time += .3
self.step_const(print_time, pos + 1., -1., 4., 0.)
toolhead.reset_print_time(print_time + .7)
print_time = toolhead.get_last_move_time()
self.mcu_stepper.set_ignore_move(was_ignore)
if need_motor_enable:
print_time += .1
self.motor_enable(print_time, 0)
toolhead.reset_print_time(print_time)
# Support for stepper controlled linear axis with an endstop
class PrinterHomingStepper(PrinterStepper):