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# Support for a manual controlled stepper
#
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, homing, chelper
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
class ManualStepper:
def __init__(self, config):
self.printer = config.get_printer()
if config.get('endstop_pin', None) is not None:
self.can_home = True
self.stepper = stepper.PrinterRail(
config, need_position_minmax=False, default_position_endstop=0.)
else:
self.can_home = False
self.stepper = stepper.PrinterStepper(config)
self.next_cmd_time = 0.
# 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.setup_itersolve('cartesian_stepper_alloc', 'x')
self.stepper.set_max_jerk(9999999.9, 9999999.9)
# Register commands
stepper_name = config.get_name().split()[1]
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
stepper_name, self.cmd_MANUAL_STEPPER,
desc=self.cmd_MANUAL_STEPPER_help)
self.printer.register_event_handler(
"toolhead:motor_off", self.handle_motor_off)
def sync_print_time(self):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
if self.next_cmd_time > print_time:
toolhead.dwell(self.next_cmd_time - print_time)
else:
self.next_cmd_time = print_time
def do_enable(self, enable):
self.sync_print_time()
self.stepper.motor_enable(self.next_cmd_time, enable)
self.sync_print_time()
def do_set_position(self, setpos):
self.stepper.set_position([setpos, 0., 0.])
def do_move(self, movepos, speed):
self.sync_print_time()
cp = self.stepper.get_commanded_position()
dist = movepos - cp
move_t = abs(dist / speed)
self.move_fill(self.cmove, self.next_cmd_time, 0., move_t, 0.,
cp, 0., 0., dist, 0., 0., 0., speed, 0.)
self.stepper.step_itersolve(self.cmove)
self.next_cmd_time += move_t
self.sync_print_time()
def do_homing_move(self, movepos, speed, triggered):
if not self.can_home:
raise self.gcode.error("No endstop for this manual stepper")
# Notify endstops of upcoming home
endstops = self.stepper.get_endstops()
for mcu_endstop, name in endstops:
mcu_endstop.home_prepare()
# Start endstop checking
self.sync_print_time()
for mcu_endstop, name in endstops:
min_step_dist = min([s.get_step_dist()
for s in mcu_endstop.get_steppers()])
mcu_endstop.home_start(
self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
min_step_dist / speed, triggered=triggered)
# Issue move
self.do_move(movepos, speed)
# Wait for endstops to trigger
error = None
for mcu_endstop, name in endstops:
try:
mcu_endstop.home_wait(self.next_cmd_time)
except mcu_endstop.TimeoutError as e:
if error is None:
error = "Failed to home %s: %s" % (name, str(e))
for mcu_endstop, name in endstops:
try:
mcu_endstop.home_finalize()
except homing.EndstopError as e:
if error is None:
error = str(e)
self.sync_print_time()
if error is not None:
raise self.gcode.error(error)
cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
def cmd_MANUAL_STEPPER(self, params):
if 'ENABLE' in params:
self.do_enable(self.gcode.get_int('ENABLE', params))
if 'SET_POSITION' in params:
setpos = self.gcode.get_float('SET_POSITION', params)
self.do_set_position(setpos)
homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0)
if homing_move:
movepos = self.gcode.get_float('MOVE', params)
speed = self.gcode.get_float('SPEED', params, above=0.)
if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
self.do_enable(True)
self.do_homing_move(movepos, speed, homing_move > 0)
elif 'MOVE' in params:
movepos = self.gcode.get_float('MOVE', params)
speed = self.gcode.get_float('SPEED', params, above=0.)
if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
self.do_enable(True)
self.do_move(movepos, speed)
def handle_motor_off(self, print_time):
self.do_enable(0)
def load_config_prefix(config):
return ManualStepper(config)
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