diff options
| -rw-r--r-- | docs/G-Codes.md | 28 | ||||
| -rw-r--r-- | klippy/extras/manual_stepper.py | 10 |
2 files changed, 23 insertions, 15 deletions
diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 1f8e77c8..97b9a878 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -255,18 +255,22 @@ The following command is available when a "manual_stepper" config section is enabled: - `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]] [SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>] - [MOVE=<pos> [STOP_ON_ENDSTOP=[1|2|-1|-2]]`: 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 performed. If STOP_ON_ENDSTOP=1 is specified - then the move will end early should the endstop report as triggered - (use STOP_ON_ENDSTOP=2 to complete the move without error even if - the endstop does not trigger, use -1 or -2 to stop when the endstop - reports not triggered). + [MOVE=<pos> [STOP_ON_ENDSTOP=[1|2|-1|-2]] [SYNC=0]`: 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 performed. If + STOP_ON_ENDSTOP=1 is specified then the move will end early should + the endstop report as triggered (use STOP_ON_ENDSTOP=2 to complete + the move without error even if the endstop does not trigger, use -1 + or -2 to stop when the endstop reports not triggered). Normally + future G-Code commands will be scheduled to run after the stepper + move completes, however if a manual stepper move uses SYNC=0 then + future G-Code movement commands may run in parallel with the stepper + movement. ## Probe diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 743c6e23..24d83e28 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -58,7 +58,7 @@ class ManualStepper: self.sync_print_time() def do_set_position(self, setpos): self.rail.set_position([setpos, 0., 0.]) - def do_move(self, movepos, speed, accel): + def do_move(self, movepos, speed, accel, sync=True): self.sync_print_time() cp = self.rail.get_commanded_position() dist = movepos - cp @@ -73,7 +73,8 @@ class ManualStepper: self.trapq_free_moves(self.trapq, self.next_cmd_time + 99999.9) toolhead = self.printer.lookup_object('toolhead') toolhead.note_kinematic_activity(self.next_cmd_time) - self.sync_print_time() + if sync: + self.sync_print_time() def do_homing_move(self, movepos, speed, accel, triggered, check_trigger): if not self.can_home: raise self.gcode.error("No endstop for this manual stepper") @@ -115,6 +116,7 @@ class ManualStepper: if 'SET_POSITION' in params: setpos = self.gcode.get_float('SET_POSITION', params) self.do_set_position(setpos) + sync = self.gcode.get_int('SYNC', params, 1) 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.) @@ -124,7 +126,9 @@ class ManualStepper: homing_move > 0, abs(homing_move) == 1) elif 'MOVE' in params: movepos = self.gcode.get_float('MOVE', params) - self.do_move(movepos, speed, accel) + self.do_move(movepos, speed, accel, sync) + elif 'SYNC' in params and sync: + self.sync_print_time() def load_config_prefix(config): return ManualStepper(config) |