diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 81 |
1 files changed, 42 insertions, 39 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index eac1d263..61900a20 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -13,6 +13,48 @@ class PrinterStepper: self.step_dist = config.getfloat('step_distance', above=0.) self.inv_step_dist = 1. / self.step_dist self.min_stop_interval = 0. + step_pin = config.get('step_pin') + dir_pin = config.get('dir_pin') + self.mcu_stepper = printer.mcu.create_stepper(step_pin, dir_pin) + self.mcu_stepper.set_step_distance(self.step_dist) + + enable_pin = config.get('enable_pin', None) + if enable_pin is not None: + self.mcu_enable = printer.mcu.create_digital_out(enable_pin, 0) + self.need_motor_enable = True + def _dist_to_time(self, dist, start_velocity, accel): + # Calculate the time it takes to travel a distance with constant accel + time_offset = start_velocity / accel + return math.sqrt(2. * dist / accel + time_offset**2) - time_offset + def set_max_jerk(self, max_halt_velocity, max_accel): + # Calculate the firmware's maximum halt interval time + last_step_time = self._dist_to_time( + self.step_dist, max_halt_velocity, max_accel) + second_last_step_time = self._dist_to_time( + 2. * self.step_dist, max_halt_velocity, max_accel) + min_stop_interval = second_last_step_time - last_step_time + self.mcu_stepper.set_min_stop_interval(min_stop_interval) + def motor_enable(self, move_time, enable=0): + if enable and self.need_motor_enable: + mcu_time = self.mcu_stepper.print_to_mcu_time(move_time) + self.mcu_stepper.reset_step_clock(mcu_time) + if (self.mcu_enable is not None + and self.mcu_enable.get_last_setting() != enable): + mcu_time = self.mcu_enable.print_to_mcu_time(move_time) + self.mcu_enable.set_digital(mcu_time, enable) + self.need_motor_enable = not enable + +class PrinterHomingStepper(PrinterStepper): + def __init__(self, printer, config, name): + PrinterStepper.__init__(self, printer, config, name) + + endstop_pin = config.get('endstop_pin', None) + self.mcu_endstop = printer.mcu.create_endstop(endstop_pin) + self.mcu_endstop.add_stepper(self.mcu_stepper) + self.position_min = config.getfloat('position_min', 0.) + self.position_max = config.getfloat( + 'position_max', 0., above=self.position_min) + self.position_endstop = config.getfloat('position_endstop') self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.) self.homing_positive_dir = config.getboolean( @@ -42,45 +84,6 @@ class PrinterStepper: self.homing_stepper_phases = None if printer.mcu.is_fileoutput(): self.homing_endstop_accuracy = self.homing_stepper_phases - self.position_min = self.position_endstop = self.position_max = None - endstop_pin = config.get('endstop_pin', None) - step_pin = config.get('step_pin') - dir_pin = config.get('dir_pin') - mcu = printer.mcu - self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin) - self.mcu_stepper.set_step_distance(self.step_dist) - enable_pin = config.get('enable_pin', None) - if enable_pin is not None: - self.mcu_enable = mcu.create_digital_out(enable_pin, 0) - if endstop_pin is not None: - self.mcu_endstop = mcu.create_endstop(endstop_pin) - self.mcu_endstop.add_stepper(self.mcu_stepper) - self.position_min = config.getfloat('position_min', 0.) - self.position_max = config.getfloat( - 'position_max', 0., above=self.position_min) - self.position_endstop = config.getfloat('position_endstop') - self.need_motor_enable = True - def _dist_to_time(self, dist, start_velocity, accel): - # Calculate the time it takes to travel a distance with constant accel - time_offset = start_velocity / accel - return math.sqrt(2. * dist / accel + time_offset**2) - time_offset - def set_max_jerk(self, max_halt_velocity, max_accel): - # Calculate the firmware's maximum halt interval time - last_step_time = self._dist_to_time( - self.step_dist, max_halt_velocity, max_accel) - second_last_step_time = self._dist_to_time( - 2. * self.step_dist, max_halt_velocity, max_accel) - min_stop_interval = second_last_step_time - last_step_time - self.mcu_stepper.set_min_stop_interval(min_stop_interval) - def motor_enable(self, move_time, enable=0): - if enable and self.need_motor_enable: - mcu_time = self.mcu_stepper.print_to_mcu_time(move_time) - self.mcu_stepper.reset_step_clock(mcu_time) - if (self.mcu_enable is not None - and self.mcu_enable.get_last_setting() != enable): - mcu_time = self.mcu_enable.print_to_mcu_time(move_time) - self.mcu_enable.set_digital(mcu_time, enable) - self.need_motor_enable = not enable def enable_endstop_checking(self, move_time, step_time): mcu_time = self.mcu_endstop.print_to_mcu_time(move_time) self.mcu_endstop.home_start(mcu_time, step_time) |