diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 43 |
1 files changed, 42 insertions, 1 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index a8ab2298..1b1ad7ad 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -183,7 +183,7 @@ def PrinterStepper(config, units_in_radians=False): step_pin_params = ppins.lookup_pin(step_pin, can_invert=True) dir_pin = config.get('dir_pin') dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True) - step_dist = config.getfloat('step_distance', above=0.) + step_dist = parse_step_distance(config, units_in_radians, True) mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist, units_in_radians) # Support for stepper enable pin handling @@ -194,6 +194,47 @@ def PrinterStepper(config, units_in_radians=False): force_move.register_stepper(mcu_stepper) return mcu_stepper +# Parse stepper gear_ratio config parameter +def parse_gear_ratio(config, note_valid): + gear_ratio = config.get('gear_ratio', None, note_valid=note_valid) + if gear_ratio is None: + return 1. + result = 1. + try: + gears = gear_ratio.split(',') + for gear in gears: + g1, g2 = [float(v.strip()) for v in gear.split(':')] + result *= g1 / g2 + except: + raise config.error("Unable to parse gear_ratio: %s" % (gear_ratio,)) + return result + +# Obtain "step distance" information from a config section +def parse_step_distance(config, units_in_radians=None, note_valid=False): + if units_in_radians is None: + # Caller doesn't know if units are in radians - infer it + rd = config.get('rotation_distance', None, note_valid=False) + gr = config.get('gear_ratio', None, note_valid=False) + units_in_radians = rd is None and gr is not None + if units_in_radians: + rotation_dist = 2. * math.pi + config.get('gear_ratio', note_valid=note_valid) + else: + rotation_dist = config.getfloat('rotation_distance', None, + above=0., note_valid=note_valid) + if rotation_dist is None: + # Older config format with step_distance + return config.getfloat('step_distance', above=0., note_valid=note_valid) + # Newer config format with rotation_distance + microsteps = config.getint('microsteps', minval=1, note_valid=note_valid) + full_steps = config.getint('full_steps_per_rotation', 200, minval=1, + note_valid=note_valid) + if full_steps % 4: + raise config.error("full_steps_per_rotation invalid in section '%s'" + % (config.get_name(),)) + gearing = parse_gear_ratio(config, note_valid) + return rotation_dist / (full_steps * microsteps * gearing) + ###################################################################### # Stepper controlled rails |