manual_stepper: Add support for moves with acceleration

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

2 files changed, 40 insertions, 21 deletions

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)