diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/force_move.py | 12 | ||||
| -rw-r--r-- | klippy/kinematics/polar.py | 3 | ||||
| -rw-r--r-- | klippy/stepper.py | 17 |
3 files changed, 23 insertions, 9 deletions
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index 0f58ad03..d051622f 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -6,7 +6,10 @@ import math, logging import chelper -BUZZ_VELOCITY = 4. +BUZZ_DISTANCE = 1. +BUZZ_VELOCITY = BUZZ_DISTANCE / .250 +BUZZ_RADIANS_DISTANCE = math.radians(1.) +BUZZ_RADIANS_VELOCITY = BUZZ_RADIANS_DISTANCE / .250 STALL_TIME = 0.100 # Calculate a move's accel_t, cruise_t, and cruise_v @@ -95,10 +98,13 @@ class ForceMove: logging.info("Stepper buzz %s", stepper.get_name()) was_enable = self.force_enable(stepper) toolhead = self.printer.lookup_object('toolhead') + dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY + if stepper.units_in_radians(): + dist, speed = BUZZ_RADIANS_DISTANCE, BUZZ_RADIANS_VELOCITY for i in range(10): - self.manual_move(stepper, 1., BUZZ_VELOCITY) + self.manual_move(stepper, dist, speed) toolhead.dwell(.050) - self.manual_move(stepper, -1., BUZZ_VELOCITY) + self.manual_move(stepper, -dist, speed) toolhead.dwell(.450) self.restore_enable(stepper, was_enable) cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics" diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 4201978d..6b86a8c8 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -9,7 +9,8 @@ import stepper, homing class PolarKinematics: def __init__(self, toolhead, config): # Setup axis steppers - stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed')) + stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'), + units_in_radians=True) rail_arm = stepper.PrinterRail(config.getsection('stepper_arm')) rail_z = stepper.LookupMultiRail(config.getsection('stepper_z')) stepper_bed.setup_itersolve('polar_stepper_alloc', 'a') diff --git a/klippy/stepper.py b/klippy/stepper.py index 4d623094..1f7a58f7 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -16,9 +16,11 @@ class error(Exception): # Interface to low-level mcu and chelper code class MCU_stepper: - def __init__(self, name, step_pin_params, dir_pin_params, step_dist): + def __init__(self, name, step_pin_params, dir_pin_params, step_dist, + units_in_radians=False): self._name = name self._step_dist = step_dist + self._units_in_radians = units_in_radians self._mcu = step_pin_params['chip'] self._oid = oid = self._mcu.create_oid() self._mcu.register_config_callback(self._build_config) @@ -47,6 +49,9 @@ class MCU_stepper: if short and self._name.startswith('stepper_'): return self._name[8:] return self._name + def units_in_radians(self): + # Returns true if distances are in radians instead of millimeters + return self._units_in_radians 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 @@ -159,7 +164,7 @@ class MCU_stepper: raise error("Internal error in stepcompress") # Helper code to build a stepper object from a config section -def PrinterStepper(config): +def PrinterStepper(config, units_in_radians=False): printer = config.get_printer() name = config.get_name() # Stepper definition @@ -169,7 +174,8 @@ def PrinterStepper(config): 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.) - mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist) + mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist, + units_in_radians) # Support for stepper enable pin handling stepper_enable = printer.try_load_module(config, 'stepper_enable') stepper_enable.register_stepper(mcu_stepper, config.get('enable_pin', None)) @@ -187,8 +193,9 @@ def PrinterStepper(config): # endstops. class PrinterRail: def __init__(self, config, need_position_minmax=True, - default_position_endstop=None): + default_position_endstop=None, units_in_radians=False): # Primary stepper and endstop + self.stepper_units_in_radians = units_in_radians self.steppers = [] self.endstops = [] self.add_extra_stepper(config) @@ -250,7 +257,7 @@ class PrinterRail: def get_endstops(self): return list(self.endstops) def add_extra_stepper(self, config): - stepper = PrinterStepper(config) + stepper = PrinterStepper(config, self.stepper_units_in_radians) self.steppers.append(stepper) if self.endstops and config.get('endstop_pin', None) is None: # No endstop defined - use primary endstop |