From ee4f37fe0c61dd525d4f03e800da38c42781b66f Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 24 May 2018 09:42:33 -0400 Subject: stepper: Add STEPPER_BUZZ command Add a new command that can help diagnose stepper motor connectivity. Signed-off-by: Kevin O'Connor --- klippy/stepper.py | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) (limited to 'klippy/stepper.py') diff --git a/klippy/stepper.py b/klippy/stepper.py index 8767fd12..aac7a96f 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -35,6 +35,7 @@ def lookup_enable_pin(ppins, pin): # Code storing the definitions for a stepper motor class PrinterStepper: def __init__(self, printer, config): + self.printer = printer self.name = config.get_name() if self.name.startswith('stepper_'): self.name = self.name[8:] @@ -50,6 +51,11 @@ class PrinterStepper: self.step_const = self.mcu_stepper.step_const self.step_delta = self.mcu_stepper.step_delta self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None)) + # Register STEPPER_BUZZ command + self.gcode = printer.lookup_object('gcode') + self.gcode.register_mux_command( + 'STEPPER_BUZZ', 'STEPPER', config.get_name(), self.cmd_STEPPER_BUZZ, + desc=self.cmd_STEPPER_BUZZ_help) 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 @@ -68,6 +74,30 @@ class PrinterStepper: if self.need_motor_enable != (not enable): self.enable.set_enable(print_time, enable) self.need_motor_enable = not enable + cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it" + def cmd_STEPPER_BUZZ(self, params): + logging.info("Stepper buzz %s", self.name) + need_motor_enable = self.need_motor_enable + # Move stepper + toolhead = self.printer.lookup_object('toolhead') + toolhead.wait_moves() + pos = self.mcu_stepper.get_commanded_position() + print_time = toolhead.get_last_move_time() + if need_motor_enable: + self.motor_enable(print_time, 1) + print_time += .1 + was_ignore = self.mcu_stepper.set_ignore_move(False) + for i in range(10): + self.step_const(print_time, pos, 1., 4., 0.) + print_time += .3 + self.step_const(print_time, pos + 1., -1., 4., 0.) + toolhead.reset_print_time(print_time + .7) + print_time = toolhead.get_last_move_time() + self.mcu_stepper.set_ignore_move(was_ignore) + if need_motor_enable: + print_time += .1 + self.motor_enable(print_time, 0) + toolhead.reset_print_time(print_time) # Support for stepper controlled linear axis with an endstop class PrinterHomingStepper(PrinterStepper): -- cgit v1.2.3-70-g09d2