diff options
Diffstat (limited to 'klippy/extras/manual_stepper.py')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 4c55deb8..5a8949b9 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -34,6 +34,7 @@ class ManualStepper: # Registered with toolhead as an axtra axis self.axis_gcode_id = None self.instant_corner_v = 0. + self.gaxis_limit_velocity = self.gaxis_limit_accel = 0. # Register commands stepper_name = config.get_name().split()[1] gcode = self.printer.lookup_object('gcode') @@ -130,6 +131,8 @@ class ManualStepper: gcode_axis = gcmd.get('GCODE_AXIS').upper() instant_corner_v = gcmd.get_float('INSTANTANEOUS_CORNER_VELOCITY', 1., minval=0.) + limit_velocity = gcmd.get_float('LIMIT_VELOCITY', 999999.9, above=0.) + limit_accel = gcmd.get_float('LIMIT_ACCEL', 999999.9, above=0.) if self.axis_gcode_id is not None: if gcode_axis: raise gcmd.error("Must unregister axis first") @@ -149,6 +152,8 @@ class ManualStepper: raise gcmd.error("Axis '%s' already registered" % (gcode_axis,)) self.axis_gcode_id = gcode_axis self.instant_corner_v = instant_corner_v + self.gaxis_limit_velocity = limit_velocity + self.gaxis_limit_accel = limit_accel toolhead.add_extra_axis(self, self.get_position()[0]) toolhead.register_step_generator(self.rail.generate_steps) def process_move(self, print_time, move, ea_index): @@ -163,12 +168,18 @@ class ManualStepper: 1., 0., 0., start_v, cruise_v, accel) def check_move(self, move, ea_index): + # Check move is in bounds movepos = move.end_pos[ea_index] if ((self.pos_min is not None and movepos < self.pos_min) or (self.pos_max is not None and movepos > self.pos_max)): raise move.move_error() - # XXX - support max accel/velocity - # XXX - support non-kinematic max accel/velocity + # Check if need to limit maximum velocity and acceleration + axis_ratio = move.move_d / abs(move.axes_d[ea_index]) + limit_velocity = self.gaxis_limit_velocity * axis_ratio + limit_accel = self.gaxis_limit_accel * axis_ratio + if not move.is_kinematic_move and self.accel: + limit_accel = min(limit_accel, self.accel * axis_ratio) + move.limit_speed(limit_velocity, limit_accel) def calc_junction(self, prev_move, move, ea_index): diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index] if diff_r: |