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| author | Kevin O'Connor <kevin@koconnor.net> | 2025-04-30 19:18:50 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2025-05-12 20:15:03 -0400 |
| commit | ee0bc3d697a136ff9dea2107430d703c421ba4f9 (patch) | |
| tree | 9700d35db7c3cd47961e3468557272aa938a7966 | |
| parent | 64e01f03a20f4d895f4baa5d5f72870f800f5830 (diff) | |
| download | kutter-ee0bc3d697a136ff9dea2107430d703c421ba4f9.tar.gz kutter-ee0bc3d697a136ff9dea2107430d703c421ba4f9.tar.xz kutter-ee0bc3d697a136ff9dea2107430d703c421ba4f9.zip | |
manual_stepper: Support position_min and position_max options
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | docs/Config_Reference.md | 7 | ||||
| -rw-r--r-- | klippy/extras/manual_stepper.py | 14 |
2 files changed, 19 insertions, 2 deletions
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index f9ef676b..2f4b714d 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -2540,6 +2540,13 @@ printer kinematics. # Endstop switch detection pin. If specified, then one may perform # "homing moves" by adding a STOP_ON_ENDSTOP parameter to # 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 diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 6e02ee86..4c55deb8 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -22,6 +22,8 @@ class ManualStepper: self.velocity = config.getfloat('velocity', 5., above=0.) self.accel = self.homing_accel = config.getfloat('accel', 0., minval=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 ffi_main, ffi_lib = chelper.get_ffi() 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) if homing_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, homing_move > 0, abs(homing_move) == 1) elif gcmd.get_float('MOVE', None) is not None: 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) self.do_move(movepos, speed, accel, sync) elif gcmd.get_int('SYNC', 0): @@ -155,10 +163,12 @@ class ManualStepper: 1., 0., 0., start_v, cruise_v, accel) 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 non-kinematic max accel/velocity - pass def calc_junction(self, prev_move, move, ea_index): diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index] if diff_r: |