manual_stepper: Add support for moves with acceleration

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

6 files changed, 77 insertions, 42 deletions

diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index 134ac66b..ed574b6d 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -657,6 +657,15 @@
 #step_distance:
 #   See the "[stepper_x]" section in example.cfg for a description of
 #   these parameters.
+#velocity:
+#   Set the default velocity (in mm/s) for the stepper. This value
+#   will be used if a MANUAL_STEPPER command does not specify a SPEED
+#   parameter. The default is 5mm/s.
+#accel:
+#   Set the default acceleration (in mm/s^2) for the stepper. An
+#   acceleration of zero will result in no acceleration. This value
+#   will be used if a MANUAL_STEPPER command does not specify an ACCEL
+#   parameter. The default is zero.
 #endstop_pin:
 #   Endstop switch detection pin. If specified, then one may perform
 #   "homing moves" by adding a STOP_ON_ENDSTOP parameter to
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 197ec3e2..6a004cf2 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -170,15 +170,18 @@ enabled:
 The following command is available when a "manual_stepper" config
 section is enabled:
 - `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
-  [SET_POSITION=<pos>]
-  [MOVE=<pos> SPEED=<speed> [STOP_ON_ENDSTOP=1]]`: This command will
-  alter the state of the stepper. Use the ENABLE parameter to
-  enable/disable the stepper. Use the SET_POSITION parameter to force
-  the stepper to think it is at the given position. Use the MOVE
-  parameter to request a movement to the given position at the given
-  SPEED. If STOP_ON_ENDSTOP is specified then the move will end early
-  should the endstop report as triggered (use STOP_ON_ENDSTOP=-1 to
-  stop early should the endstop report not triggered).
+  [SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>]
+  [MOVE=<pos> [STOP_ON_ENDSTOP=1]]`: This command will alter the state
+  of the stepper. Use the ENABLE parameter to enable/disable the
+  stepper. Use the SET_POSITION parameter to force the stepper to
+  think it is at the given position. Use the MOVE parameter to request
+  a movement to the given position. If SPEED and/or ACCEL is specified
+  then the given values will be used instead of the defaults specified
+  in the config file. If an ACCEL of zero is specified then no
+  acceleration will be preformed. If STOP_ON_ENDSTOP is specified then
+  the move will end early should the endstop report as triggered (use
+  STOP_ON_ENDSTOP=-1 to stop early should the endstop report not
+  triggered).
 
 ## Probe
 
@@ -312,16 +315,18 @@ section is enabled:
 
 The following commands are available when the "force_move" config
 section is enabled:
-- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value>
-  VELOCITY=<value>`: This command will forcibly move the given stepper
+- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> VELOCITY=<value>
+  [ACCEL=<value>]`: This command will forcibly move the given stepper
   the given distance (in mm) at the given constant velocity (in
-  mm/s). No acceleration is performed; no boundary checks are
-  performed; no kinematic updates are made; other parallel steppers on
-  an axis will not be moved. Use caution as an incorrect command could
-  cause damage! Using this command will almost certainly place the
-  low-level kinematics in an incorrect state; issue a G28 afterwards
-  to reset the kinematics. This command is intended for low-level
-  diagnostics and debugging.
+  mm/s). If ACCEL is specified and is greater than zero, then the
+  given acceleration (in mm/s^2) will be used; otherwise no
+  acceleration is performed. No boundary checks are performed; no
+  kinematic updates are made; other parallel steppers on an axis will
+  not be moved. Use caution as an incorrect command could cause
+  damage! Using this command will almost certainly place the low-level
+  kinematics in an incorrect state; issue a G28 afterwards to reset
+  the kinematics. This command is intended for low-level diagnostics
+  and debugging.
 - `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
   the low-level kinematic code to believe the toolhead is at the given
   cartesian position. This is a diagnostic and debugging command; use
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
index a6d7adc2..0b0ed902 100644
--- a/klippy/extras/force_move.py
+++ b/klippy/extras/force_move.py
@@ -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):
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index fdb9fc10..01758d99 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -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)
 
diff --git a/test/klippy/manual_stepper.cfg b/test/klippy/manual_stepper.cfg
index 4ca734a3..2c65b33d 100644
--- a/test/klippy/manual_stepper.cfg
+++ b/test/klippy/manual_stepper.cfg
@@ -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
diff --git a/test/klippy/manual_stepper.test b/test/klippy/manual_stepper.test
index 4f682331..0d11970b 100644
--- a/test/klippy/manual_stepper.test
+++ b/test/klippy/manual_stepper.test
@@ -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