diff options
Diffstat (limited to 'klippy/extras/manual_stepper.py')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 29 |
1 files changed, 17 insertions, 12 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index fdb9fc10..01758d99 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -3,7 +3,7 @@ # Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import stepper, homing, chelper +import stepper, homing, force_move, chelper ENDSTOP_SAMPLE_TIME = .000015 ENDSTOP_SAMPLE_COUNT = 4 @@ -18,6 +18,8 @@ class ManualStepper: else: self.can_home = False self.stepper = stepper.PrinterStepper(config) + self.velocity = config.getfloat('velocity', 5., above=0.) + self.accel = config.getfloat('accel', 0., minval=0.) self.next_cmd_time = 0. # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() @@ -46,17 +48,20 @@ class ManualStepper: self.sync_print_time() def do_set_position(self, setpos): self.stepper.set_position([setpos, 0., 0.]) - def do_move(self, movepos, speed): + def do_move(self, movepos, speed, accel): self.sync_print_time() cp = self.stepper.get_commanded_position() dist = movepos - cp - move_t = abs(dist / speed) - self.move_fill(self.cmove, self.next_cmd_time, 0., move_t, 0., - cp, 0., 0., dist, 0., 0., 0., speed, 0.) + accel_t, cruise_t, cruise_v = force_move.calc_move_time( + dist, speed, accel) + self.move_fill(self.cmove, self.next_cmd_time, + accel_t, cruise_t, accel_t, + cp, 0., 0., dist, 0., 0., + 0., cruise_v, accel) self.stepper.step_itersolve(self.cmove) - self.next_cmd_time += move_t + self.next_cmd_time += accel_t + cruise_t + accel_t self.sync_print_time() - def do_homing_move(self, movepos, speed, triggered): + def do_homing_move(self, movepos, speed, accel, triggered): if not self.can_home: raise self.gcode.error("No endstop for this manual stepper") # Notify endstops of upcoming home @@ -72,7 +77,7 @@ class ManualStepper: self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, min_step_dist / speed, triggered=triggered) # Issue move - self.do_move(movepos, speed) + self.do_move(movepos, speed, accel) # Wait for endstops to trigger error = None for mcu_endstop, name in endstops: @@ -98,18 +103,18 @@ class ManualStepper: setpos = self.gcode.get_float('SET_POSITION', params) self.do_set_position(setpos) homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0) + speed = self.gcode.get_float('SPEED', params, self.velocity, above=0.) + accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.) if homing_move: movepos = self.gcode.get_float('MOVE', params) - speed = self.gcode.get_float('SPEED', params, above=0.) if 'ENABLE' not in params and not self.stepper.is_motor_enabled(): self.do_enable(True) - self.do_homing_move(movepos, speed, homing_move > 0) + self.do_homing_move(movepos, speed, accel, homing_move > 0) elif 'MOVE' in params: movepos = self.gcode.get_float('MOVE', params) - speed = self.gcode.get_float('SPEED', params, above=0.) if 'ENABLE' not in params and not self.stepper.is_motor_enabled(): self.do_enable(True) - self.do_move(movepos, speed) + self.do_move(movepos, speed, accel) def handle_motor_off(self, print_time): self.do_enable(0) |