diff options
| -rw-r--r-- | config/example-extras.cfg | 18 | ||||
| -rw-r--r-- | klippy/cartesian.py | 2 | ||||
| -rw-r--r-- | klippy/corexy.py | 10 | ||||
| -rw-r--r-- | klippy/stepper.py | 46 |
4 files changed, 72 insertions, 4 deletions
diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 97183b7c..67b725b4 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -27,6 +27,24 @@ # activation. +# Multi-stepper axes. On a cartesian style printer, the stepper +# controlling a given axis may have additional config blocks defining +# steppers that should be stepped in concert with the primary +# stepper. One may define any number of sections with a numeric suffix +# starting at 1 (for example, "stepper_z1", "stepper_z2", etc.). +#[stepper_z1] +#step_pin: ar36 +#dir_pin: ar34 +#enable_pin: !ar30 +#step_distance: .005 +# See the example.cfg for the definition of the above parameters. +#endstop_pin: ^ar19 +# If an endstop_pin is defined for the additional stepper then the +# stepper will home until the endstop is triggered. Otherwise, the +# endstop will home until the endstop on the primary stepper for the +# axis is triggered. + + # Heater cooling fans (one may define any number of sections with a # "heater_fan" prefix). A "heater fan" is a fan that will be enabled # whenever its associated heater is active. In the event of an MCU diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 4907b6d1..2f4651ad 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -10,7 +10,7 @@ StepList = (0, 1, 2) class CartKinematics: def __init__(self, toolhead, printer, config): - self.steppers = [stepper.PrinterHomingStepper( + self.steppers = [stepper.LookupMultiHomingStepper( printer, config.getsection('stepper_' + n)) for n in ['x', 'y', 'z']] max_velocity, max_accel = toolhead.get_max_velocity() diff --git a/klippy/corexy.py b/klippy/corexy.py index 8b92d118..dd62cf1c 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -10,9 +10,13 @@ StepList = (0, 1, 2) class CoreXYKinematics: def __init__(self, toolhead, printer, config): - self.steppers = [stepper.PrinterHomingStepper( - printer, config.getsection('stepper_' + n)) - for n in ['x', 'y', 'z']] + self.steppers = [ + stepper.PrinterHomingStepper( + printer, config.getsection('stepper_x')), + stepper.PrinterHomingStepper( + printer, config.getsection('stepper_y')), + stepper.LookupMultiHomingStepper( + printer, config.getsection('stepper_z'))] self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper) self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper) max_velocity, max_accel = toolhead.get_max_velocity() diff --git a/klippy/stepper.py b/klippy/stepper.py index 692273c0..0574c4bf 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -143,3 +143,49 @@ class PrinterHomingStepper(PrinterStepper): "Endstop %s incorrect phase (got %d vs %d)" % ( self.name, pos, self.homing_endstop_phase)) return delta * self.step_dist + +# Wrapper for dual stepper motor support +class PrinterMultiStepper(PrinterHomingStepper): + def __init__(self, printer, config): + PrinterHomingStepper.__init__(self, printer, config) + self.endstops = PrinterHomingStepper.get_endstops(self) + self.extras = [] + self.all_step_const = [self.step_const] + for i in range(1, 99): + if not config.has_section(config.section + str(i)): + break + extraconfig = config.getsection(config.section + str(i)) + extra = PrinterStepper(printer, extraconfig) + self.extras.append(extra) + self.all_step_const.append(extra.step_const) + extraendstop = extraconfig.get('endstop_pin', None) + if extraendstop is not None: + mcu_endstop = pins.setup_pin(printer, 'endstop', extraendstop) + mcu_endstop.add_stepper(extra.mcu_stepper) + self.endstops.append( + (mcu_endstop, extra.mcu_stepper, extra.name)) + else: + self.mcu_endstop.add_stepper(extra.mcu_stepper) + self.step_const = self.step_multi_const + def step_multi_const(self, print_time, start_pos, dist, start_v, accel): + for step_const in self.all_step_const: + step_const(print_time, start_pos, dist, start_v, accel) + def set_max_jerk(self, max_halt_velocity, max_accel): + PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel) + for extra in self.extras: + extra.set_max_jerk(max_halt_velocity, max_accel) + def set_position(self, pos): + PrinterHomingStepper.set_position(self, pos) + for extra in self.extras: + extra.set_position(pos) + def motor_enable(self, print_time, enable=0): + PrinterHomingStepper.motor_enable(self, print_time, enable) + for extra in self.extras: + extra.motor_enable(print_time, enable) + def get_endstops(self): + return self.endstops + +def LookupMultiHomingStepper(printer, config): + if not config.has_section(config.section + '1'): + return PrinterHomingStepper(printer, config) + return PrinterMultiStepper(printer, config) |