diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 26 |
1 files changed, 15 insertions, 11 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 3720e9a7..d2020a34 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -43,14 +43,16 @@ class PrinterStepper: self.mcu_stepper = ppins.setup_pin('stepper', config.get('step_pin')) dir_pin_params = ppins.lookup_pin('digital_out', config.get('dir_pin')) self.mcu_stepper.setup_dir_pin(dir_pin_params) - self.step_dist = config.getfloat('step_distance', above=0.) - self.mcu_stepper.setup_step_distance(self.step_dist) - self.step_itersolve = self.mcu_stepper.step_itersolve - self.setup_itersolve = self.mcu_stepper.setup_itersolve + step_dist = config.getfloat('step_distance', above=0.) + self.mcu_stepper.setup_step_distance(step_dist) self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None)) # Register STEPPER_BUZZ command stepper_buzz = printer.try_load_module(config, 'stepper_buzz') stepper_buzz.register_stepper(self, config.get_name()) + # Wrappers + self.step_itersolve = self.mcu_stepper.step_itersolve + self.setup_itersolve = self.mcu_stepper.setup_itersolve + self.get_step_dist = self.mcu_stepper.get_step_dist def get_name(self, short=False): if short and self.name.startswith('stepper_'): return self.name[8:] @@ -61,10 +63,11 @@ class PrinterStepper: 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 + step_dist = self.get_step_dist() last_step_time = self._dist_to_time( - self.step_dist, max_halt_velocity, max_accel) + step_dist, max_halt_velocity, max_accel) second_last_step_time = self._dist_to_time( - 2. * self.step_dist, max_halt_velocity, max_accel) + 2. * step_dist, max_halt_velocity, max_accel) min_stop_interval = second_last_step_time - last_step_time self.mcu_stepper.setup_min_stop_interval(min_stop_interval) def set_position(self, pos): @@ -123,6 +126,7 @@ class PrinterHomingStepper(PrinterStepper): 'homing_endstop_accuracy', None, above=0.) self.homing_endstop_accuracy = self.homing_endstop_phase = None if self.homing_stepper_phases: + step_dist = self.get_step_dist() self.homing_endstop_phase = config.getint( 'homing_endstop_phase', None, minval=0 , maxval=self.homing_stepper_phases-1) @@ -132,8 +136,8 @@ class PrinterHomingStepper(PrinterStepper): micro_steps = self.homing_stepper_phases // 4 phase_offset = ( ((self.homing_endstop_phase + micro_steps // 2) % micro_steps) - - micro_steps // 2) * self.step_dist - full_step = micro_steps * self.step_dist + - micro_steps // 2) * step_dist + full_step = micro_steps * step_dist es_pos = (int(self.position_endstop / full_step + .5) * full_step + phase_offset) if es_pos != self.position_endstop: @@ -145,10 +149,10 @@ class PrinterHomingStepper(PrinterStepper): self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1 elif self.homing_endstop_phase is not None: self.homing_endstop_accuracy = int(math.ceil( - endstop_accuracy * .5 / self.step_dist)) + endstop_accuracy * .5 / step_dist)) else: self.homing_endstop_accuracy = int(math.ceil( - endstop_accuracy / self.step_dist)) + endstop_accuracy / step_dist)) if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2: logging.info("Endstop for %s is not accurate enough for stepper" " phase adjustment", self.get_name(short=True)) @@ -178,7 +182,7 @@ class PrinterHomingStepper(PrinterStepper): raise homing.EndstopError( "Endstop %s incorrect phase (got %d vs %d)" % ( self.get_name(short=True), pos, self.homing_endstop_phase)) - return delta * self.step_dist + return delta * self.get_step_dist() # Wrapper for dual stepper motor support class PrinterMultiStepper(PrinterHomingStepper): |