1 files changed, 65 insertions, 0 deletions
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
new file mode 100644
index 00000000..7d9e38a2
--- /dev/null
+++ b/klippy/extras/force_move.py
@@ -0,0 +1,65 @@
+# Utility for manually moving a stepper for diagnostic purposes
+#
+# 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 chelper
+
+BUZZ_VELOCITY = 4.
+
+class ForceMove:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.steppers = {}
+        # Setup iterative solver
+        ffi_main, ffi_lib = chelper.get_ffi()
+        self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
+        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
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
+                                    desc=self.cmd_STEPPER_BUZZ_help)
+    def register_stepper(self, stepper):
+        name = stepper.get_name()
+        self.steppers[name] = stepper
+    def manual_move(self, print_time, stepper, start_pos, dist):
+        self.move_fill(
+            self.cmove, print_time, 0., abs(dist / BUZZ_VELOCITY), 0.,
+            start_pos, 0., 0., dist, 0., 0., 0., BUZZ_VELOCITY, 0.)
+        stepper.step_itersolve(self.cmove)
+    cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
+    def cmd_STEPPER_BUZZ(self, params):
+        name = self.gcode.get_str('STEPPER', params)
+        if name not in self.steppers:
+            raise self.gcode.error("Unknown stepper %s" % (name,))
+        logging.info("Stepper buzz %s", name)
+        stepper = self.steppers[name]
+        need_motor_enable = not stepper.is_motor_enabled()
+        # Move stepper
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.wait_moves()
+        pos = stepper.get_commanded_position()
+        print_time = toolhead.get_last_move_time()
+        if need_motor_enable:
+            stepper.motor_enable(print_time, 1)
+            print_time += .1
+        was_ignore = stepper.set_ignore_move(False)
+        prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
+        for i in range(10):
+            self.manual_move(print_time, stepper, 0., 1.)
+            print_time += .3
+            self.manual_move(print_time, stepper, 1., -1.)
+            toolhead.reset_print_time(print_time + .7)
+            print_time = toolhead.get_last_move_time()
+        stepper.set_stepper_kinematics(prev_sk)
+        stepper.set_ignore_move(was_ignore)
+        if need_motor_enable:
+            print_time += .1
+            stepper.motor_enable(print_time, 0)
+            toolhead.reset_print_time(print_time)
+
+def load_config(config):
+    return ForceMove(config)