From 0791c694995ef2d8f559e2e0c072e34b46aaeaaa Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 22 Jun 2018 11:44:25 -0400 Subject: stepper: Replace PrinterHomingStepper with PrinterRail Update the code to use the term "rail" when dealing with a motor controlled "axis". A rail has a series of steppers and endstops that control that motor controlled "axis". Signed-off-by: Kevin O'Connor --- klippy/stepper.py | 158 ++++++++++++++++++++++++++++-------------------------- 1 file changed, 83 insertions(+), 75 deletions(-) (limited to 'klippy/stepper.py') diff --git a/klippy/stepper.py b/klippy/stepper.py index 629e6a39..5a9bee70 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -6,6 +6,11 @@ import math, logging, collections import homing, chelper + +###################################################################### +# Stepper enable pins +###################################################################### + # Tracking of shared stepper enable pins class StepperEnablePin: def __init__(self, mcu_enable, enable_count=0): @@ -32,6 +37,11 @@ def lookup_enable_pin(ppins, pin): pin_params['class'] = enable = StepperEnablePin(mcu_enable) return enable + +###################################################################### +# Steppers +###################################################################### + # Code storing the definitions for a stepper motor class PrinterStepper: def __init__(self, config): @@ -53,6 +63,7 @@ class PrinterStepper: self.step_itersolve = self.mcu_stepper.step_itersolve self.setup_itersolve = self.mcu_stepper.setup_itersolve self.set_ignore_move = self.mcu_stepper.set_ignore_move + self.set_position = self.mcu_stepper.set_position self.get_mcu_position = self.mcu_stepper.get_mcu_position self.get_commanded_position = self.mcu_stepper.get_commanded_position self.get_step_dist = self.mcu_stepper.get_step_dist @@ -75,8 +86,6 @@ class PrinterStepper: 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): - self.mcu_stepper.set_position(pos) def motor_enable(self, print_time, enable=0): if self.need_motor_enable != (not enable): self.enable.set_enable(print_time, enable) @@ -84,15 +93,29 @@ class PrinterStepper: def is_motor_enabled(self): return not self.need_motor_enable -# Support for stepper controlled linear axis with an endstop -class PrinterHomingStepper(PrinterStepper): + +###################################################################### +# Stepper controlled rails +###################################################################### + +# A motor control "rail" with one (or more) steppers and one (or more) +# endstops. +class PrinterRail: def __init__(self, config, need_position_minmax=True, default_position_endstop=None): - PrinterStepper.__init__(self, config) - # Endstop and its position + # Primary stepper + stepper = PrinterStepper(config) + self.steppers = [stepper] + self.name = stepper.get_name(short=True) + self.step_itersolve = stepper.step_itersolve + self.setup_itersolve = stepper.setup_itersolve + self.get_commanded_position = stepper.get_commanded_position + self.is_motor_enabled = stepper.is_motor_enabled + # Primary endstop and its position ppins = config.get_printer().lookup_object('pins') - self.mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin')) - self.add_to_endstop(self.mcu_endstop) + mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin')) + self.endstops = [(mcu_endstop, self.name)] + stepper.add_to_endstop(mcu_endstop) if default_position_endstop is None: self.position_endstop = config.getfloat('position_endstop') else: @@ -133,7 +156,7 @@ 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_step_dist = step_dist = stepper.get_step_dist() self.homing_endstop_phase = config.getint( 'homing_endstop_phase', None, minval=0 , maxval=self.homing_stepper_phases-1) @@ -149,7 +172,7 @@ class PrinterHomingStepper(PrinterStepper): + phase_offset) if es_pos != self.position_endstop: logging.info("Changing %s endstop position to %.3f" - " (from %.3f)", self.get_name(short=True), + " (from %.3f)", self.name, es_pos, self.position_endstop) self.position_endstop = es_pos if endstop_accuracy is None: @@ -162,32 +185,17 @@ class PrinterHomingStepper(PrinterStepper): 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)) + " phase adjustment", self.name) self.homing_stepper_phases = None - if self.mcu_endstop.get_mcu().is_fileoutput(): + if mcu_endstop.get_mcu().is_fileoutput(): self.homing_endstop_accuracy = self.homing_stepper_phases - def setup_cartesian_itersolve(self, axis): - ffi_main, ffi_lib = chelper.get_ffi() - self.setup_itersolve(ffi_main.gc( - ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) - def get_range(self): - return self.position_min, self.position_max - def get_homing_info(self): - homing_info = collections.namedtuple('homing_info', [ - 'speed', 'position_endstop', 'retract_dist', 'positive_dir'])( - self.homing_speed, self.position_endstop, - self.homing_retract_dist, self.homing_positive_dir) - return homing_info - def get_endstops(self): - return [(self.mcu_endstop, self.get_name(short=True))] def get_homed_offset(self): - if not self.homing_stepper_phases or self.need_motor_enable: + if not self.homing_stepper_phases: return 0. - pos = self.mcu_stepper.get_mcu_position() + pos = self.steppers[0].get_mcu_position() pos %= self.homing_stepper_phases if self.homing_endstop_phase is None: - logging.info("Setting %s endstop phase to %d", - self.get_name(short=True), pos) + logging.info("Setting %s endstop phase to %d", self.name, pos) self.homing_endstop_phase = pos return 0. delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases @@ -196,57 +204,57 @@ class PrinterHomingStepper(PrinterStepper): elif delta > self.homing_endstop_accuracy: raise homing.EndstopError( "Endstop %s incorrect phase (got %d vs %d)" % ( - self.get_name(short=True), pos, self.homing_endstop_phase)) - return delta * self.get_step_dist() - -# Wrapper for dual stepper motor support -class PrinterMultiStepper(PrinterHomingStepper): - def __init__(self, config): - PrinterHomingStepper.__init__(self, config) - self.endstops = PrinterHomingStepper.get_endstops(self) - self.extras = [] - self.all_step_itersolve = [self.step_itersolve] - for i in range(1, 99): - if not config.has_section(config.get_name() + str(i)): - break - extraconfig = config.getsection(config.get_name() + str(i)) - extra = PrinterStepper(extraconfig) - self.extras.append(extra) - self.all_step_itersolve.append(extra.step_itersolve) - mcu_endstop = self.mcu_endstop - extraendstop = extraconfig.get('endstop_pin', None) - if extraendstop is not None: - ppins = config.get_printer().lookup_object('pins') - mcu_endstop = ppins.setup_pin('endstop', extraendstop) - self.endstops.append((mcu_endstop, extra.get_name(short=True))) - extra.add_to_endstop(mcu_endstop) + self.name, pos, self.homing_endstop_phase)) + return delta * self.homing_step_dist + def get_range(self): + return self.position_min, self.position_max + def get_homing_info(self): + homing_info = collections.namedtuple('homing_info', [ + 'speed', 'position_endstop', 'retract_dist', 'positive_dir'])( + self.homing_speed, self.position_endstop, + self.homing_retract_dist, self.homing_positive_dir) + return homing_info + def get_steppers(self): + return list(self.steppers) + def get_endstops(self): + return list(self.endstops) + def add_extra_stepper(self, config): + stepper = PrinterStepper(config) + self.steppers.append(stepper) self.step_itersolve = self.step_multi_itersolve + mcu_endstop = self.endstops[0][0] + endstop_pin = config.get('endstop_pin', None) + if endstop_pin is not None: + ppins = config.get_printer().lookup_object('pins') + mcu_endstop = ppins.setup_pin('endstop', endstop_pin) + self.endstops.append((mcu_endstop, stepper.get_name(short=True))) + stepper.add_to_endstop(mcu_endstop) + def add_to_endstop(self, mcu_endstop): + for stepper in self.steppers: + stepper.add_to_endstop(mcu_endstop) def step_multi_itersolve(self, cmove): - for step_itersolve in self.all_step_itersolve: - step_itersolve(cmove) + for stepper in self.steppers: + stepper.step_itersolve(cmove) def setup_cartesian_itersolve(self, axis): ffi_main, ffi_lib = chelper.get_ffi() - self.setup_itersolve(ffi_main.gc( - ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) - for extra in self.extras: - extra.setup_itersolve(ffi_main.gc( + for stepper in self.steppers: + stepper.setup_itersolve(ffi_main.gc( ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) def set_max_jerk(self, max_halt_velocity, max_accel): - PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel) - for extra in self.extras: - extra.set_max_jerk(max_halt_velocity, max_accel) + for stepper in self.steppers: + stepper.set_max_jerk(max_halt_velocity, max_accel) def set_position(self, pos): - PrinterHomingStepper.set_position(self, pos) - for extra in self.extras: - extra.set_position(pos) + for stepper in self.steppers: + stepper.set_position(pos) def motor_enable(self, print_time, enable=0): - PrinterHomingStepper.motor_enable(self, print_time, enable) - for extra in self.extras: - extra.motor_enable(print_time, enable) - def get_endstops(self): - return self.endstops + for stepper in self.steppers: + stepper.motor_enable(print_time, enable) -def LookupMultiHomingStepper(config): - if not config.has_section(config.get_name() + '1'): - return PrinterHomingStepper(config) - return PrinterMultiStepper(config) +# Wrapper for dual stepper motor support +def LookupMultiRail(config): + rail = PrinterRail(config) + for i in range(1, 99): + if not config.has_section(config.get_name() + str(i)): + break + rail.add_extra_stepper(config.getsection(config.get_name() + str(i))) + return rail -- cgit v1.2.3-70-g09d2