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* homing: Handle speed rounding when homing speed greater than max_velocityKevin O'Connor2017-12-201-1/+3
| | | | | | | | | | Commit 002dc0df added rounding to the homing speed, but it did not work if the configured homing speed was less than the printer's maximum velocity. Move the speed rounding from stepper.py to homing.py and make sure the rounded speed is less than the maximum speed. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Directly interact with the kinematic class on query_endstops()Kevin O'Connor2017-12-061-2/+2
| | | | | | Move the query_endstop logic out of toolhead.py and into homing.py. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Pass list of endstops (not steppers) to the homing codeKevin O'Connor2017-12-061-4/+4
| | | | | | | The homing code wants the list of endstops to enable during a homing operation - it's confusing to pass the steppers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Support for multiple steppers controlling a single axisKevin O'Connor2017-11-181-3/+7
| | | | | | | Allow multiple steppers to be defined for a single cartesian axis. This adds support for dual-z setups. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Add get_endstops() / set_position wrappersKevin O'Connor2017-11-181-1/+1
| | | | | | | Add wrappers around mcu_endstop and mcu_stepper so that the kinematic classes do not need to directly access these low-level classes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Store pointers to step_const and step_delta in PrinterStepperKevin O'Connor2017-11-181-7/+5
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Calculate the stepper name directly from the config sectionKevin O'Connor2017-11-181-1/+1
| | | | | | | There is no need to pass the name to the PrinterStepper class as it can determine the name itself. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* cartesian: Fix min_stop_interval calculation errorKevin O'Connor2017-10-121-4/+4
| | | | | | | | It is possible to have an acceleration greater than max_z_accel on XY+Z moves. That needs to be taken into account when calculating the min_stop_interval. This prevents spurious "No next step" MCU errors. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* gcode: Report the raw MCU position from the M114 commandKevin O'Connor2017-10-031-2/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Move query_endstop() code from kinematic classes to homing.pyKevin O'Connor2017-09-191-3/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Pass print_time directly to MCU callsKevin O'Connor2017-09-191-14/+14
| | | | | | | | | Now that the print_time is always synchronized with the mcu_time, there is no longer a need to track mcu_time as a separate quantity. Eliminate references to mcu_time from the code and pass print_time directly in its place. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* corexy: Fix max_xy_halt_velocity calculation on corexyKevin O'Connor2017-09-091-1/+2
| | | | | | | | On corexy, the stepper velocity of a diagonal move could be greater than the maximum printer velocity. Account for that when setting the maximum xy halt velocity in the mcu stepper config. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* toolhead: Eliminate set_max_jerk() from kinematic classesKevin O'Connor2017-09-031-5/+8
| | | | | | | | Allow the kinematic classes to query the max velocity, max accel, and max halt velocity from the toolhead class instead of having the toolhead class call into the kinematic classes with those values. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Adjust homing_speed so that it's an even number of ticks per stepKevin O'Connor2017-08-291-3/+4
| | | | | | | | | | | Adjust the configured homing speed so that it always results in a speed that is an even number of mcu ticks per step. This ensures that the code can always get good step compression during homing, which is important as the entire homing operation must be able to fit within the mcu's move queue. This fixes some "move queue empty" mcu shutdown errors that could occur when the Z step distance was an unusual size. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Separate out homing code to its own PrinterHomingStepper classKevin O'Connor2017-07-241-1/+1
| | | | | | | Keep the homing code separate from the main stepper class. This makes it easier to verify the correct config parameters are provided. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Support minimum/maximum value checks on configuration variablesKevin O'Connor2017-04-111-2/+4
| | | | | | | Verify that numeric parameters are in a sane range when reading the config. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Merge stepcompress_push_accel() and stepcompress_push_const()Kevin O'Connor2017-04-071-3/+4
| | | | | | | | It's not necessary to have separate C functions for constant acceleration and constant velocity as constant velocity can be obtained by using a constant acceleration of zero. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Change mcu_stepper.set_position() to take a location in millimetersKevin O'Connor2017-04-071-8/+2
| | | | | | | | | | Update the set_position() method to convert from millimeters to absolute step position. Also, update PrinterStepper.get_homed_offset() and mcu_stepper.get_commanded_position() to return millimeters. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Pass constant velocity and acceleration directly to mcu_stepperKevin O'Connor2017-04-071-34/+19
| | | | | | | | Rename step_sqrt/step_factor to step_accel/step_const and have them directly take the velocity and acceleration in millimeters and seconds. This simplifies the kinematic classes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* corexy: Initial corexy kinematic implementationKevin O'Connor2017-04-031-0/+164
Add initial support for corexy kinematics. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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