manual_stepper: Add an "extras" module for manually controlling a stepper

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

1 files changed, 117 insertions, 0 deletions

diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
new file mode 100644
index 00000000..fdb9fc10
--- /dev/null
+++ b/klippy/extras/manual_stepper.py
@@ -0,0 +1,117 @@
+# Support for a manual controlled stepper
+#
+# 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
+
+ENDSTOP_SAMPLE_TIME = .000015
+ENDSTOP_SAMPLE_COUNT = 4
+
+class ManualStepper:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        if config.get('endstop_pin', None) is not None:
+            self.can_home = True
+            self.stepper = stepper.PrinterRail(
+                config, need_position_minmax=False, default_position_endstop=0.)
+        else:
+            self.can_home = False
+            self.stepper = stepper.PrinterStepper(config)
+        self.next_cmd_time = 0.
+        # Setup iterative solver
+        ffi_main, ffi_lib = chelper.get_ffi()
+        self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
+        self.move_fill = ffi_lib.move_fill
+        self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
+        self.stepper.set_max_jerk(9999999.9, 9999999.9)
+        # Register commands
+        stepper_name = config.get_name().split()[1]
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
+                                        stepper_name, self.cmd_MANUAL_STEPPER,
+                                        desc=self.cmd_MANUAL_STEPPER_help)
+        self.printer.register_event_handler(
+            "toolhead:motor_off", self.handle_motor_off)
+    def sync_print_time(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        print_time = toolhead.get_last_move_time()
+        if self.next_cmd_time > print_time:
+            toolhead.dwell(self.next_cmd_time - print_time)
+        else:
+            self.next_cmd_time = print_time
+    def do_enable(self, enable):
+        self.sync_print_time()
+        self.stepper.motor_enable(self.next_cmd_time, enable)
+        self.sync_print_time()
+    def do_set_position(self, setpos):
+        self.stepper.set_position([setpos, 0., 0.])
+    def do_move(self, movepos, speed):
+        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.)
+        self.stepper.step_itersolve(self.cmove)
+        self.next_cmd_time += move_t
+        self.sync_print_time()
+    def do_homing_move(self, movepos, speed, triggered):
+        if not self.can_home:
+            raise self.gcode.error("No endstop for this manual stepper")
+        # Notify endstops of upcoming home
+        endstops = self.stepper.get_endstops()
+        for mcu_endstop, name in endstops:
+            mcu_endstop.home_prepare()
+        # Start endstop checking
+        self.sync_print_time()
+        for mcu_endstop, name in endstops:
+            min_step_dist = min([s.get_step_dist()
+                                 for s in mcu_endstop.get_steppers()])
+            mcu_endstop.home_start(
+                self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
+                min_step_dist / speed, triggered=triggered)
+        # Issue move
+        self.do_move(movepos, speed)
+        # Wait for endstops to trigger
+        error = None
+        for mcu_endstop, name in endstops:
+            try:
+                mcu_endstop.home_wait(self.next_cmd_time)
+            except mcu_endstop.TimeoutError as e:
+                if error is None:
+                    error = "Failed to home %s: %s" % (name, str(e))
+        for mcu_endstop, name in endstops:
+            try:
+                mcu_endstop.home_finalize()
+            except homing.EndstopError as e:
+                if error is None:
+                    error = str(e)
+        self.sync_print_time()
+        if error is not None:
+            raise self.gcode.error(error)
+    cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
+    def cmd_MANUAL_STEPPER(self, params):
+        if 'ENABLE' in params:
+            self.do_enable(self.gcode.get_int('ENABLE', params))
+        if 'SET_POSITION' in params:
+            setpos = self.gcode.get_float('SET_POSITION', params)
+            self.do_set_position(setpos)
+        homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 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)
+        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)
+    def handle_motor_off(self, print_time):
+        self.do_enable(0)
+
+def load_config_prefix(config):
+    return ManualStepper(config)