diff options
Diffstat (limited to 'klippy/extras/manual_stepper.py')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 57 |
1 files changed, 56 insertions, 1 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index c15ce235..4c24ff75 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -1,8 +1,9 @@ # Support for a manual controlled stepper # -# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2019-2025 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. +import logging import stepper, chelper from . import force_move @@ -28,6 +29,8 @@ class ManualStepper: self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves self.rail.setup_itersolve('cartesian_stepper_alloc', b'x') self.rail.set_trapq(self.trapq) + # Registered with toolhead as an axtra axis + self.axis_gcode_id = None # Register commands stepper_name = config.get_name().split()[1] gcode = self.printer.lookup_object('gcode') @@ -88,6 +91,10 @@ class ManualStepper: triggered, check_trigger) cmd_MANUAL_STEPPER_help = "Command a manually configured stepper" def cmd_MANUAL_STEPPER(self, gcmd): + if gcmd.get('GCODE_AXIS', None) is not None: + return self.command_with_gcode_axis(gcmd) + if self.axis_gcode_id is not None: + raise gcmd.error("Must unregister from gcode axis first") enable = gcmd.get_int('ENABLE', None) if enable is not None: self.do_enable(enable) @@ -107,6 +114,54 @@ class ManualStepper: self.do_move(movepos, speed, accel, sync) elif gcmd.get_int('SYNC', 0): self.sync_print_time() + # Register as a gcode axis + def command_with_gcode_axis(self, gcmd): + gcode_move = self.printer.lookup_object("gcode_move") + toolhead = self.printer.lookup_object('toolhead') + gcode_axis = gcmd.get('GCODE_AXIS').upper() + if self.axis_gcode_id is not None: + if gcode_axis: + raise gcmd.error("Must unregister axis first") + # Unregister + toolhead.remove_extra_axis(self) + toolhead.unregister_step_generator(self.rail.generate_steps) + self.axis_gcode_id = None + return + if (len(gcode_axis) != 1 or not gcode_axis.isupper() + or gcode_axis in "XYZEFN"): + if not gcode_axis: + # Request to unregister already unregistered axis + return + raise gcmd.error("Not a valid GCODE_AXIS") + for ea in toolhead.get_extra_axes(): + if ea is not None and ea.get_axis_gcode_id() == gcode_axis: + raise gcmd.error("Axis '%s' already registered" % (gcode_axis,)) + self.axis_gcode_id = gcode_axis + 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): + axis_r = move.axes_r[ea_index] + start_pos = move.start_pos[ea_index] + accel = move.accel * axis_r + start_v = move.start_v * axis_r + cruise_v = move.cruise_v * axis_r + self.trapq_append(self.trapq, print_time, + move.accel_t, move.cruise_t, move.decel_t, + start_pos, 0., 0., + 1., 0., 0., + start_v, cruise_v, accel) + def check_move(self, move, ea_index): + # XXX - support out of bounds checks + # XXX - support max accel/velocity + # XXX - support non-kinematic max accel/velocity + pass + def calc_junction(self, prev_move, move, ea_index): + # XXX - support max instantaneous velocity change + return move.max_cruise_v2 + def get_axis_gcode_id(self): + return self.axis_gcode_id + def get_trapq(self): + return self.trapq # Toolhead wrappers to support homing def flush_step_generation(self): self.sync_print_time() |