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# Utility for manually moving a stepper for diagnostic purposes
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import chelper
BUZZ_VELOCITY = 4.
STALL_TIME = 0.100
class ForceMove:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = {}
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.stepper_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
# Register STEPPER_BUZZ command
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
def register_stepper(self, stepper):
name = stepper.get_name()
self.steppers[name] = stepper
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,))
stepper = self.steppers[name]
logging.info("Stepper buzz %s", name)
was_enable, was_ignore = self.force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead')
for i in range(10):
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)
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