diff options
| -rw-r--r-- | config/example-extras.cfg | 9 | ||||
| -rw-r--r-- | docs/G-Codes.md | 22 | ||||
| -rw-r--r-- | klippy/extras/force_move.py | 39 |
3 files changed, 65 insertions, 5 deletions
diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 8dcec27f..805da97c 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -660,6 +660,15 @@ # name in the above list. +# Support manually moving stepper motors for diagnostic purposes. +# Note, using this feature may place the printer in an invalid state - +# see docs/G-Codes.md for important details. +#[force_move] +#enable_force_move: False +# Set to true to enable FORCE_MOVE and SET_KINEMATIC_POSITION +# extended G-Code commands. The default is false. + + # G-Code macros (one may define any number of sections with a # "gcode_macro" prefix). #[gcode_macro my_cmd] diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 25e30445..c97e77df 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -180,3 +180,25 @@ The following command is available when the "tmc2130" config section is enabled: - `DUMP_TMC STEPPER=<name>`: This command will read the TMC2130 driver registers and report their values. + +## Force movement + +The following commands are available when the "force_move" config +section is enabled: +- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> + VELOCITY=<value>`: This command will forcibly move the given stepper + the given distance (in mm) at the given constant velocity (in + mm/s). No acceleration is performed; no boundary checks are + performed; no kinematic updates are made; other parallel steppers on + an axis will not be moved. Use caution as an incorrect command could + cause damage! Using this command will almost certainly place the + low-level kinematics in an incorrect state; issue a G28 afterwards + to reset the kinematics. This command is intended for low-level + diagnostics and debugging. +- `SET_KINEMATIC_POSITION X=<value> Y=<value> Z=<value>`: Force the + low-level kinematic code to believe the toolhead is at the given + position. This is a diagnostic and debugging command; use + SET_GCODE_OFFSET and/or G92 for regular axis transformations. + Setting an incorrect or invalid position may lead to internal + software errors. This command may invalidate future boundary checks; + issue a G28 afterwards to reset the kinematics. diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index 8c5ebba6..d7d357b7 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -19,10 +19,16 @@ class ForceMove: self.move_fill = ffi_lib.move_fill self.stepper_kinematics = ffi_main.gc( ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free) - # Register STEPPER_BUZZ command + # Register commands self.gcode = self.printer.lookup_object('gcode') self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ, desc=self.cmd_STEPPER_BUZZ_help) + if config.getboolean("enable_force_move", False): + self.gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE, + desc=self.cmd_FORCE_MOVE_help) + self.gcode.register_command( + 'SET_KINEMATIC_POSITION', self.cmd_SET_KINEMATIC_POSITION, + desc=self.cmd_SET_KINEMATIC_POSITION_help) def register_stepper(self, stepper): name = stepper.get_name() self.steppers[name] = stepper @@ -54,13 +60,15 @@ class ForceMove: stepper.step_itersolve(self.cmove) stepper.set_stepper_kinematics(prev_sk) toolhead.dwell(move_t) - cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it" - def cmd_STEPPER_BUZZ(self, params): + def _lookup_stepper(self, params): name = self.gcode.get_str('STEPPER', params) if name not in self.steppers: raise self.gcode.error("Unknown stepper %s" % (name,)) - stepper = self.steppers[name] - logging.info("Stepper buzz %s", name) + return self.steppers[name] + cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it" + def cmd_STEPPER_BUZZ(self, params): + stepper = self._lookup_stepper(params) + logging.info("Stepper buzz %s", stepper.get_name()) was_enable, was_ignore = self.force_enable(stepper) toolhead = self.printer.lookup_object('toolhead') for i in range(10): @@ -69,6 +77,27 @@ class ForceMove: self.manual_move(stepper, -1., BUZZ_VELOCITY) toolhead.dwell(.450) self.restore_enable(stepper, was_enable, was_ignore) + cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics" + def cmd_FORCE_MOVE(self, params): + 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) + was_enable, was_ignore = self.force_enable(stepper) + self.manual_move(stepper, distance, speed) + 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): + x = self.gcode.get_float('X', params) + y = self.gcode.get_float('Y', params) + z = self.gcode.get_float('Z', params) + logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z) + toolhead = self.printer.lookup_object('toolhead') + toolhead.get_last_move_time() + curpos = toolhead.get_position() + toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2)) + self.gcode.reset_last_position() def load_config(config): return ForceMove(config) |