force_move: Simplify STEPPER_BUZZ code

Separate the setup and movement parts of cmd_STEPPER_BUZZ() into their
own functions.

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

1 files changed, 35 insertions, 26 deletions

diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
index 7d9e38a2..8c5ebba6 100644
--- a/klippy/extras/force_move.py
+++ b/klippy/extras/force_move.py
@@ -7,6 +7,7 @@ import logging
 import chelper
 
 BUZZ_VELOCITY = 4.
+STALL_TIME = 0.100
 
 class ForceMove:
     def __init__(self, config):
@@ -25,41 +26,49 @@ class ForceMove:
     def register_stepper(self, stepper):
         name = stepper.get_name()
         self.steppers[name] = stepper
-    def manual_move(self, print_time, stepper, start_pos, dist):
-        self.move_fill(
-            self.cmove, print_time, 0., abs(dist / BUZZ_VELOCITY), 0.,
-            start_pos, 0., 0., dist, 0., 0., 0., BUZZ_VELOCITY, 0.)
+    def force_enable(self, stepper):
+        toolhead = self.printer.lookup_object('toolhead')
+        print_time = toolhead.get_last_move_time()
+        was_enable = stepper.is_motor_enabled()
+        if not was_enable:
+            stepper.motor_enable(print_time, 1)
+            toolhead.dwell(STALL_TIME)
+        was_ignore = stepper.set_ignore_move(False)
+        return was_enable, was_ignore
+    def restore_enable(self, stepper, was_enable, was_ignore):
+        stepper.set_ignore_move(was_ignore)
+        if not was_enable:
+            toolhead = self.printer.lookup_object('toolhead')
+            toolhead.dwell(STALL_TIME)
+            print_time = toolhead.get_last_move_time()
+            stepper.motor_enable(print_time, 0)
+            toolhead.dwell(STALL_TIME)
+    def manual_move(self, stepper, dist, speed):
+        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.)
         stepper.step_itersolve(self.cmove)
+        stepper.set_stepper_kinematics(prev_sk)
+        toolhead.dwell(move_t)
     cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
     def cmd_STEPPER_BUZZ(self, params):
         name = self.gcode.get_str('STEPPER', params)
         if name not in self.steppers:
             raise self.gcode.error("Unknown stepper %s" % (name,))
-        logging.info("Stepper buzz %s", name)
         stepper = self.steppers[name]
-        need_motor_enable = not stepper.is_motor_enabled()
-        # Move stepper
+        logging.info("Stepper buzz %s", name)
+        was_enable, was_ignore = self.force_enable(stepper)
         toolhead = self.printer.lookup_object('toolhead')
-        toolhead.wait_moves()
-        pos = stepper.get_commanded_position()
-        print_time = toolhead.get_last_move_time()
-        if need_motor_enable:
-            stepper.motor_enable(print_time, 1)
-            print_time += .1
-        was_ignore = stepper.set_ignore_move(False)
-        prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
         for i in range(10):
-            self.manual_move(print_time, stepper, 0., 1.)
-            print_time += .3
-            self.manual_move(print_time, stepper, 1., -1.)
-            toolhead.reset_print_time(print_time + .7)
-            print_time = toolhead.get_last_move_time()
-        stepper.set_stepper_kinematics(prev_sk)
-        stepper.set_ignore_move(was_ignore)
-        if need_motor_enable:
-            print_time += .1
-            stepper.motor_enable(print_time, 0)
-            toolhead.reset_print_time(print_time)
+            self.manual_move(stepper, 1., BUZZ_VELOCITY)
+            toolhead.dwell(.050)
+            self.manual_move(stepper, -1., BUZZ_VELOCITY)
+            toolhead.dwell(.450)
+        self.restore_enable(stepper, was_enable, was_ignore)
 
 def load_config(config):
     return ForceMove(config)