diff options
| -rw-r--r-- | docs/Code_Overview.md | 7 | ||||
| -rw-r--r-- | klippy/extras/manual_stepper.py | 4 | ||||
| -rw-r--r-- | klippy/extras/stepper_enable.py | 22 | ||||
| -rw-r--r-- | klippy/homing.py | 2 | ||||
| -rw-r--r-- | klippy/kinematics/cartesian.py | 9 | ||||
| -rw-r--r-- | klippy/kinematics/corexy.py | 6 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 6 | ||||
| -rw-r--r-- | klippy/kinematics/extruder.py | 4 | ||||
| -rw-r--r-- | klippy/kinematics/none.py | 2 | ||||
| -rw-r--r-- | klippy/kinematics/polar.py | 6 | ||||
| -rw-r--r-- | klippy/kinematics/winch.py | 3 | ||||
| -rw-r--r-- | klippy/stepper.py | 1 | ||||
| -rw-r--r-- | klippy/toolhead.py | 14 |
13 files changed, 37 insertions, 49 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 3459bd31..7b26f85d 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -336,10 +336,9 @@ Useful steps: need to be efficient as it is typically only called during homing and probing operations. 5. Other methods. Implement the `check_move()`, `home()`, - `motor_off()`, `set_position()`, and `get_steppers()` methods. - These functions are typically used to provide kinematic specific - checks. However, at the start of development one can use - boiler-plate code here. + `set_position()`, and `get_steppers()` methods. These functions are + typically used to provide kinematic specific checks. However, at + the start of development one can use boiler-plate code here. 6. Implement test cases. Create a g-code file with a series of moves that can test important cases for the given kinematics. Follow the [debugging documentation](Debugging.md) to convert this g-code file diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 73766622..da65a5a4 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -35,8 +35,6 @@ class ManualStepper: 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() @@ -114,8 +112,6 @@ class ManualStepper: elif 'MOVE' in params: movepos = self.gcode.get_float('MOVE', params) self.do_move(movepos, speed, accel) - def handle_motor_off(self, print_time): - self.do_enable(0) def load_config_prefix(config): return ManualStepper(config) diff --git a/klippy/extras/stepper_enable.py b/klippy/extras/stepper_enable.py index 5d9e6a41..46f93f65 100644 --- a/klippy/extras/stepper_enable.py +++ b/klippy/extras/stepper_enable.py @@ -3,18 +3,36 @@ # Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. +import logging + +DISABLE_STALL_TIME = 0.100 class StepperEnable: def __init__(self, config): self.printer = config.get_printer() + self.steppers = {} + self.printer.register_event_handler("gcode:request_restart", + self._handle_request_restart) # Register M18/M84 commands gcode = self.printer.lookup_object('gcode') gcode.register_command("M18", self.cmd_M18) gcode.register_command("M84", self.cmd_M18) + def register_stepper(self, stepper): + self.steppers[stepper.get_name()] = stepper + def motor_off(self): + toolhead = self.printer.lookup_object('toolhead') + toolhead.dwell(DISABLE_STALL_TIME) + print_time = toolhead.get_last_move_time() + for s in self.steppers.values(): + s.motor_enable(print_time, 0) + self.printer.send_event("stepper_enable:motor_off", print_time) + toolhead.dwell(DISABLE_STALL_TIME) + logging.debug('; Max time of %f', print_time) + def _handle_request_restart(self, print_time): + self.motor_off() def cmd_M18(self, params): # Turn off motors - toolhead = self.printer.lookup_object('toolhead') - toolhead.motor_off() + self.motor_off() def load_config(config): return StepperEnable(config) diff --git a/klippy/homing.py b/klippy/homing.py index a1d010d7..63530a91 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -125,7 +125,7 @@ class Homing: try: self.toolhead.get_kinematics().home(self) except CommandError: - self.toolhead.motor_off() + self.printer.lookup_object('stepper_enable').motor_off() raise class CommandError(Exception): diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index b2176d5b..f8c50bb9 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -17,6 +17,8 @@ class CartKinematics: for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) + self.printer.register_event_handler("stepper_enable:motor_off", + self._motor_off) # Setup boundary checks max_velocity, max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( @@ -84,12 +86,8 @@ class CartKinematics: self._activate_carriage(altc) else: self._home_axis(homing_state, axis, self.rails[axis]) - def motor_off(self, print_time): + def _motor_off(self, print_time): self.limits = [(1.0, -1.0)] * 3 - for rail in self.rails: - rail.motor_enable(print_time, 0) - for rail in self.dual_carriage_rails: - rail.motor_enable(print_time, 0) def _check_endstops(self, move): end_pos = move.end_pos for i in (0, 1, 2): @@ -131,7 +129,6 @@ class CartKinematics: toolhead.set_position(self.calc_position() + [extruder_pos]) if self.limits[dc_axis][0] <= self.limits[dc_axis][1]: self.limits[dc_axis] = dc_rail.get_range() - self.need_motor_enable = True cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active" def cmd_SET_DUAL_CARRIAGE(self, params): gcode = self.printer.lookup_object('gcode') diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 9f9df91b..2c041a79 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -20,6 +20,8 @@ class CoreXYKinematics: for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) + config.get_printer().register_event_handler("stepper_enable:motor_off", + self._motor_off) # Setup boundary checks max_velocity, max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( @@ -63,10 +65,8 @@ class CoreXYKinematics: forcepos[axis] += 1.5 * (position_max - hi.position_endstop) # Perform homing homing_state.home_rails([rail], forcepos, homepos) - def motor_off(self, print_time): + def _motor_off(self, print_time): self.limits = [(1.0, -1.0)] * 3 - for rail in self.rails: - rail.motor_enable(print_time, 0) def _check_endstops(self, move): end_pos = move.end_pos for i in (0, 1, 2): diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 3bd01e8f..af3aa092 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -23,6 +23,8 @@ class DeltaKinematics: stepper_configs[2], need_position_minmax = False, default_position_endstop=a_endstop) self.rails = [rail_a, rail_b, rail_c] + config.get_printer().register_event_handler("stepper_enable:motor_off", + self._motor_off) # Setup stepper max halt velocity self.max_velocity, self.max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( @@ -105,10 +107,8 @@ class DeltaKinematics: forcepos = list(self.home_position) forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2) homing_state.home_rails(self.rails, forcepos, self.home_position) - def motor_off(self, print_time): + def _motor_off(self, print_time): self.limit_xy2 = -1. - for rail in self.rails: - rail.motor_enable(print_time, 0) self.need_home = True def check_move(self, move): end_pos = move.end_pos diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py index 8b8476ed..2e7ae177 100644 --- a/klippy/kinematics/extruder.py +++ b/klippy/kinematics/extruder.py @@ -87,8 +87,6 @@ class PrinterExtruder: return self.deactivate_gcode.render() def stats(self, eventtime): return self.heater.stats(eventtime) - def motor_off(self, print_time): - self.stepper.motor_enable(print_time, 0) def check_move(self, move): move.extrude_r = move.axes_r[3] move.extrude_max_corner_v = 0. @@ -231,8 +229,6 @@ class PrinterExtruder: class DummyExtruder: def set_active(self, print_time, is_active): return 0. - def motor_off(self, move_time): - pass def check_move(self, move): raise homing.EndstopMoveError( move.end_pos, "Extrude when no extruder present") diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py index b6f9d1ab..2250f884 100644 --- a/klippy/kinematics/none.py +++ b/klippy/kinematics/none.py @@ -15,8 +15,6 @@ class NoneKinematics: pass def home(self, homing_state): pass - def motor_off(self, print_time): - pass def check_move(self, move): pass def get_status(self): diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 927e8401..ca2e55c7 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -21,6 +21,8 @@ class PolarKinematics: for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) + config.get_printer().register_event_handler("stepper_enable:motor_off", + self._motor_off) # Setup boundary checks max_velocity, max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( @@ -82,11 +84,9 @@ class PolarKinematics: self._home_axis(homing_state, 0, self.rails[0]) if home_z: self._home_axis(homing_state, 2, self.rails[1]) - def motor_off(self, print_time): + def _motor_off(self, print_time): self.limit_z = [(1.0, -1.0)] self.limit_xy2 = -1. - for s in self.steppers: - s.motor_enable(print_time, 0) def check_move(self, move): end_pos = move.end_pos xy2 = end_pos[0]**2 + end_pos[1]**2 diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index c48648c9..32d388ad 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -42,9 +42,6 @@ class WinchKinematics: # XXX - homing not implemented homing_state.set_axes([0, 1, 2]) homing_state.set_homed_position([0., 0., 0.]) - def motor_off(self, print_time): - for s in self.steppers: - s.motor_enable(print_time, 0) def check_move(self, move): # XXX - boundary checks and speed limits not implemented pass diff --git a/klippy/stepper.py b/klippy/stepper.py index ebeae89b..2f403a0a 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -72,6 +72,7 @@ class PrinterStepper: mcu_stepper.setup_step_distance(step_dist) # Enable pin handling stepper_enable = printer.try_load_module(config, 'stepper_enable') + stepper_enable.register_stepper(self) mcu_stepper.add_active_callback(self._stepper_active) self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None)) # Register STEPPER_BUZZ command diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d802df7e..521475d2 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -182,7 +182,6 @@ class MoveQueue: # Enough moves have been queued to reach the target flush time. self.flush(lazy=True) -STALL_TIME = 0.100 MOVE_BATCH_TIME = 0.500 DRIP_SEGMENT_TIME = 0.050 @@ -203,8 +202,6 @@ class ToolHead: self.can_pause = False self.move_queue = MoveQueue(self) self.commanded_pos = [0., 0., 0., 0.] - self.printer.register_event_handler("gcode:request_restart", - self._handle_request_restart) self.printer.register_event_handler("klippy:shutdown", self._handle_shutdown) # Velocity and acceleration control @@ -405,15 +402,6 @@ class ToolHead: next_print_time = self.get_last_move_time() + max(0., delay) self._update_move_time(next_print_time) self._check_stall() - def motor_off(self): - self.dwell(STALL_TIME) - last_move_time = self.get_last_move_time() - self.kin.motor_off(last_move_time) - for ext in kinematics.extruder.get_printer_extruders(self.printer): - ext.motor_off(last_move_time) - self.printer.send_event("toolhead:motor_off", last_move_time) - self.dwell(STALL_TIME) - logging.debug('; Max time of %f', last_move_time) def wait_moves(self): self._flush_lookahead() eventtime = self.reactor.monotonic() @@ -493,8 +481,6 @@ class ToolHead: 'estimated_print_time': estimated_print_time, 'position': homing.Coord(*self.commanded_pos), 'printing_time': print_time - last_print_start_time } - def _handle_request_restart(self, print_time): - self.motor_off() def _handle_shutdown(self): self.can_pause = False self.move_queue.reset() |