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# Utility for manually moving a stepper for diagnostic purposes
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import chelper
BUZZ_DISTANCE = 1.0
BUZZ_VELOCITY = BUZZ_DISTANCE / 0.250
BUZZ_RADIANS_DISTANCE = math.radians(1.0)
BUZZ_RADIANS_VELOCITY = BUZZ_RADIANS_DISTANCE / 0.250
STALL_TIME = 0.100
# Calculate a move's accel_t, cruise_t, and cruise_v
def calc_move_time(dist, speed, accel):
axis_r = 1.0
if dist < 0.0:
axis_r = -1.0
dist = -dist
if not accel or not dist:
return axis_r, 0.0, dist / speed, speed
max_cruise_v2 = dist * accel
if max_cruise_v2 < speed**2:
speed = math.sqrt(max_cruise_v2)
accel_t = speed / accel
accel_decel_d = accel_t * speed
cruise_t = (dist - accel_decel_d) / speed
return axis_r, accel_t, cruise_t, speed
class ForceMove:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = {}
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.stepper_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(b"x"), ffi_lib.free
)
# Register commands
gcode = self.printer.lookup_object("gcode")
gcode.register_command(
"STEPPER_BUZZ", self.cmd_STEPPER_BUZZ, desc=self.cmd_STEPPER_BUZZ_help
)
if config.getboolean("enable_force_move", False):
gcode.register_command(
"FORCE_MOVE", self.cmd_FORCE_MOVE, desc=self.cmd_FORCE_MOVE_help
)
gcode.register_command(
"SET_KINEMATIC_POSITION",
self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help,
)
def register_stepper(self, config, mcu_stepper):
self.steppers[mcu_stepper.get_name()] = mcu_stepper
def lookup_stepper(self, name):
if name not in self.steppers:
raise self.printer.config_error("Unknown stepper %s" % (name,))
return self.steppers[name]
def _force_enable(self, stepper):
toolhead = self.printer.lookup_object("toolhead")
print_time = toolhead.get_last_move_time()
stepper_enable = self.printer.lookup_object("stepper_enable")
enable = stepper_enable.lookup_enable(stepper.get_name())
was_enable = enable.is_motor_enabled()
if not was_enable:
enable.motor_enable(print_time)
toolhead.dwell(STALL_TIME)
return was_enable
def _restore_enable(self, stepper, was_enable):
if not was_enable:
toolhead = self.printer.lookup_object("toolhead")
toolhead.dwell(STALL_TIME)
print_time = toolhead.get_last_move_time()
stepper_enable = self.printer.lookup_object("stepper_enable")
enable = stepper_enable.lookup_enable(stepper.get_name())
enable.motor_disable(print_time)
toolhead.dwell(STALL_TIME)
def manual_move(self, stepper, dist, speed, accel=0.0):
toolhead = self.printer.lookup_object("toolhead")
toolhead.flush_step_generation()
prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
prev_trapq = stepper.set_trapq(self.trapq)
stepper.set_position((0.0, 0.0, 0.0))
axis_r, accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
print_time = toolhead.get_last_move_time()
self.trapq_append(
self.trapq,
print_time,
accel_t,
cruise_t,
accel_t,
0.0,
0.0,
0.0,
axis_r,
0.0,
0.0,
0.0,
cruise_v,
accel,
)
print_time = print_time + accel_t + cruise_t + accel_t
stepper.generate_steps(print_time)
self.trapq_finalize_moves(
self.trapq, print_time + 99999.9, print_time + 99999.9
)
stepper.set_trapq(prev_trapq)
stepper.set_stepper_kinematics(prev_sk)
toolhead.note_mcu_movequeue_activity(print_time)
toolhead.dwell(accel_t + cruise_t + accel_t)
toolhead.flush_step_generation()
def _lookup_stepper(self, gcmd):
name = gcmd.get("STEPPER")
if name not in self.steppers:
raise gcmd.error("Unknown stepper %s" % (name,))
return self.steppers[name]
cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
def cmd_STEPPER_BUZZ(self, gcmd):
stepper = self._lookup_stepper(gcmd)
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, dist, speed)
toolhead.dwell(0.050)
self.manual_move(stepper, -dist, speed)
toolhead.dwell(0.450)
self._restore_enable(stepper, was_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, gcmd):
stepper = self._lookup_stepper(gcmd)
distance = gcmd.get_float("DISTANCE")
speed = gcmd.get_float("VELOCITY", above=0.0)
accel = gcmd.get_float("ACCEL", 0.0, minval=0.0)
logging.info(
"FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
stepper.get_name(),
distance,
speed,
accel,
)
self._force_enable(stepper)
self.manual_move(stepper, distance, speed, accel)
cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
def cmd_SET_KINEMATIC_POSITION(self, gcmd):
toolhead = self.printer.lookup_object("toolhead")
toolhead.get_last_move_time()
curpos = toolhead.get_position()
x = gcmd.get_float("X", curpos[0])
y = gcmd.get_float("Y", curpos[1])
z = gcmd.get_float("Z", curpos[2])
set_homed = gcmd.get("SET_HOMED", "xyz").lower()
set_homed_axes = "".join([a for a in "xyz" if a in set_homed])
if gcmd.get("CLEAR_HOMED", None) is None:
# "CLEAR" is an alias for "CLEAR_HOMED"; should deprecate
clear_homed = gcmd.get("CLEAR", "").lower()
else:
clear_homed = gcmd.get("CLEAR_HOMED", "").lower()
clear_homed_axes = "".join([a for a in "xyz" if a in clear_homed])
logging.info(
"SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f" " set_homed=%s clear_homed=%s",
x,
y,
z,
set_homed_axes,
clear_homed_axes,
)
toolhead.set_position([x, y, z], homing_axes=set_homed_axes)
toolhead.get_kinematics().clear_homing_state(clear_homed_axes)
def load_config(config):
return ForceMove(config)
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