diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/force_move.py | 61 |
1 files changed, 35 insertions, 26 deletions
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index 7d9e38a2..8c5ebba6 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -7,6 +7,7 @@ import logging import chelper BUZZ_VELOCITY = 4. +STALL_TIME = 0.100 class ForceMove: def __init__(self, config): @@ -25,41 +26,49 @@ class ForceMove: def register_stepper(self, stepper): name = stepper.get_name() self.steppers[name] = stepper - def manual_move(self, print_time, stepper, start_pos, dist): - self.move_fill( - self.cmove, print_time, 0., abs(dist / BUZZ_VELOCITY), 0., - start_pos, 0., 0., dist, 0., 0., 0., BUZZ_VELOCITY, 0.) + def force_enable(self, stepper): + toolhead = self.printer.lookup_object('toolhead') + print_time = toolhead.get_last_move_time() + was_enable = stepper.is_motor_enabled() + if not was_enable: + stepper.motor_enable(print_time, 1) + toolhead.dwell(STALL_TIME) + was_ignore = stepper.set_ignore_move(False) + return was_enable, was_ignore + def restore_enable(self, stepper, was_enable, was_ignore): + stepper.set_ignore_move(was_ignore) + if not was_enable: + toolhead = self.printer.lookup_object('toolhead') + toolhead.dwell(STALL_TIME) + print_time = toolhead.get_last_move_time() + stepper.motor_enable(print_time, 0) + toolhead.dwell(STALL_TIME) + def manual_move(self, stepper, dist, speed): + toolhead = self.printer.lookup_object('toolhead') + print_time = toolhead.get_last_move_time() + move_t = abs(dist / speed) + prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics) + stepper.set_position((0., 0., 0.)) + self.move_fill(self.cmove, print_time, 0., move_t, 0., + 0., 0., 0., dist, 0., 0., 0., speed, 0.) stepper.step_itersolve(self.cmove) + stepper.set_stepper_kinematics(prev_sk) + toolhead.dwell(move_t) cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it" def cmd_STEPPER_BUZZ(self, params): name = self.gcode.get_str('STEPPER', params) if name not in self.steppers: raise self.gcode.error("Unknown stepper %s" % (name,)) - logging.info("Stepper buzz %s", name) stepper = self.steppers[name] - need_motor_enable = not stepper.is_motor_enabled() - # Move stepper + logging.info("Stepper buzz %s", name) + was_enable, was_ignore = self.force_enable(stepper) toolhead = self.printer.lookup_object('toolhead') - toolhead.wait_moves() - pos = stepper.get_commanded_position() - print_time = toolhead.get_last_move_time() - if need_motor_enable: - stepper.motor_enable(print_time, 1) - print_time += .1 - was_ignore = stepper.set_ignore_move(False) - prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics) for i in range(10): - self.manual_move(print_time, stepper, 0., 1.) - print_time += .3 - self.manual_move(print_time, stepper, 1., -1.) - toolhead.reset_print_time(print_time + .7) - print_time = toolhead.get_last_move_time() - stepper.set_stepper_kinematics(prev_sk) - stepper.set_ignore_move(was_ignore) - if need_motor_enable: - print_time += .1 - stepper.motor_enable(print_time, 0) - toolhead.reset_print_time(print_time) + self.manual_move(stepper, 1., BUZZ_VELOCITY) + toolhead.dwell(.050) + self.manual_move(stepper, -1., BUZZ_VELOCITY) + toolhead.dwell(.450) + self.restore_enable(stepper, was_enable, was_ignore) def load_config(config): return ForceMove(config) |