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# Support for a manual controlled stepper
#
# Copyright (C) 2019-2025 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper, chelper
from . import force_move
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.rail = stepper.LookupRail(
config, need_position_minmax=False, default_position_endstop=0.)
self.steppers = self.rail.get_steppers()
else:
self.can_home = False
self.rail = stepper.PrinterStepper(config)
self.steppers = [self.rail]
self.velocity = config.getfloat('velocity', 5., above=0.)
self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
self.next_cmd_time = 0.
self.pos_min = config.getfloat('position_min', None)
self.pos_max = config.getfloat('position_max', None)
# 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.rail.setup_itersolve('cartesian_stepper_alloc', b'x')
self.rail.set_trapq(self.trapq)
# Registered with toolhead as an axtra axis
self.axis_gcode_id = None
self.instant_corner_v = 0.
self.gaxis_limit_velocity = self.gaxis_limit_accel = 0.
# Register commands
stepper_name = config.get_name().split()[1]
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
stepper_name, self.cmd_MANUAL_STEPPER,
desc=self.cmd_MANUAL_STEPPER_help)
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()
stepper_enable = self.printer.lookup_object('stepper_enable')
if enable:
for s in self.steppers:
se = stepper_enable.lookup_enable(s.get_name())
se.motor_enable(self.next_cmd_time)
else:
for s in self.steppers:
se = stepper_enable.lookup_enable(s.get_name())
se.motor_disable(self.next_cmd_time)
self.sync_print_time()
def do_set_position(self, setpos):
self.rail.set_position([setpos, 0., 0.])
def _submit_move(self, movetime, movepos, speed, accel):
cp = self.rail.get_commanded_position()
dist = movepos - cp
axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
dist, speed, accel)
self.trapq_append(self.trapq, movetime,
accel_t, cruise_t, accel_t,
cp, 0., 0., axis_r, 0., 0.,
0., cruise_v, accel)
return movetime + accel_t + cruise_t + accel_t
def do_move(self, movepos, speed, accel, sync=True):
self.sync_print_time()
self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos,
speed, accel)
self.rail.generate_steps(self.next_cmd_time)
self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,
self.next_cmd_time + 99999.9)
toolhead = self.printer.lookup_object('toolhead')
toolhead.note_mcu_movequeue_activity(self.next_cmd_time)
if sync:
self.sync_print_time()
def do_homing_move(self, movepos, speed, accel, triggered, check_trigger):
if not self.can_home:
raise self.printer.command_error(
"No endstop for this manual stepper")
self.homing_accel = accel
pos = [movepos, 0., 0., 0.]
endstops = self.rail.get_endstops()
phoming = self.printer.lookup_object('homing')
phoming.manual_home(self, endstops, pos, speed,
triggered, check_trigger)
cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
def cmd_MANUAL_STEPPER(self, gcmd):
if gcmd.get('GCODE_AXIS', None) is not None:
return self.command_with_gcode_axis(gcmd)
if self.axis_gcode_id is not None:
raise gcmd.error("Must unregister from gcode axis first")
enable = gcmd.get_int('ENABLE', None)
if enable is not None:
self.do_enable(enable)
setpos = gcmd.get_float('SET_POSITION', None)
if setpos is not None:
self.do_set_position(setpos)
speed = gcmd.get_float('SPEED', self.velocity, above=0.)
accel = gcmd.get_float('ACCEL', self.accel, minval=0.)
homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0)
if homing_move:
movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise gcmd.error("Move out of range")
self.do_homing_move(movepos, speed, accel,
homing_move > 0, abs(homing_move) == 1)
elif gcmd.get_float('MOVE', None) is not None:
movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise gcmd.error("Move out of range")
sync = gcmd.get_int('SYNC', 1)
self.do_move(movepos, speed, accel, sync)
elif gcmd.get_int('SYNC', 0):
self.sync_print_time()
# Register as a gcode axis
def command_with_gcode_axis(self, gcmd):
gcode_move = self.printer.lookup_object("gcode_move")
toolhead = self.printer.lookup_object('toolhead')
gcode_axis = gcmd.get('GCODE_AXIS').upper()
instant_corner_v = gcmd.get_float('INSTANTANEOUS_CORNER_VELOCITY', 1.,
minval=0.)
limit_velocity = gcmd.get_float('LIMIT_VELOCITY', 999999.9, above=0.)
limit_accel = gcmd.get_float('LIMIT_ACCEL', 999999.9, above=0.)
if self.axis_gcode_id is not None:
if gcode_axis:
raise gcmd.error("Must unregister axis first")
# Unregister
toolhead.remove_extra_axis(self)
toolhead.unregister_step_generator(self.rail.generate_steps)
self.axis_gcode_id = None
return
if (len(gcode_axis) != 1 or not gcode_axis.isupper()
or gcode_axis in "XYZEFN"):
if not gcode_axis:
# Request to unregister already unregistered axis
return
raise gcmd.error("Not a valid GCODE_AXIS")
for ea in toolhead.get_extra_axes():
if ea is not None and ea.get_axis_gcode_id() == gcode_axis:
raise gcmd.error("Axis '%s' already registered" % (gcode_axis,))
self.axis_gcode_id = gcode_axis
self.instant_corner_v = instant_corner_v
self.gaxis_limit_velocity = limit_velocity
self.gaxis_limit_accel = limit_accel
toolhead.add_extra_axis(self, self.get_position()[0])
toolhead.register_step_generator(self.rail.generate_steps)
def process_move(self, print_time, move, ea_index):
axis_r = move.axes_r[ea_index]
start_pos = move.start_pos[ea_index]
accel = move.accel * axis_r
start_v = move.start_v * axis_r
cruise_v = move.cruise_v * axis_r
self.trapq_append(self.trapq, print_time,
move.accel_t, move.cruise_t, move.decel_t,
start_pos, 0., 0.,
1., 0., 0.,
start_v, cruise_v, accel)
def check_move(self, move, ea_index):
# Check move is in bounds
movepos = move.end_pos[ea_index]
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise move.move_error()
# Check if need to limit maximum velocity and acceleration
axis_ratio = move.move_d / abs(move.axes_d[ea_index])
limit_velocity = self.gaxis_limit_velocity * axis_ratio
limit_accel = self.gaxis_limit_accel * axis_ratio
if not move.is_kinematic_move and self.accel:
limit_accel = min(limit_accel, self.accel * axis_ratio)
move.limit_speed(limit_velocity, limit_accel)
def calc_junction(self, prev_move, move, ea_index):
diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index]
if diff_r:
return (self.instant_corner_v / abs(diff_r))**2
return move.max_cruise_v2
def get_axis_gcode_id(self):
return self.axis_gcode_id
def get_trapq(self):
return self.trapq
# Toolhead wrappers to support homing
def flush_step_generation(self):
self.sync_print_time()
def get_position(self):
return [self.rail.get_commanded_position(), 0., 0., 0.]
def set_position(self, newpos, homing_axes=""):
self.do_set_position(newpos[0])
def get_last_move_time(self):
self.sync_print_time()
return self.next_cmd_time
def dwell(self, delay):
self.next_cmd_time += max(0., delay)
def drip_move(self, newpos, speed, drip_completion):
# Submit move to trapq
self.sync_print_time()
maxtime = self._submit_move(self.next_cmd_time, newpos[0],
speed, self.homing_accel)
# Drip updates to motors
toolhead = self.printer.lookup_object('toolhead')
toolhead.drip_update_time(maxtime, drip_completion, self.steppers)
# Clear trapq of any remaining parts of movement
reactor = self.printer.get_reactor()
self.trapq_finalize_moves(self.trapq, reactor.NEVER, 0)
self.rail.set_position([newpos[0], 0., 0.])
self.sync_print_time()
def get_kinematics(self):
return self
def get_steppers(self):
return self.steppers
def calc_position(self, stepper_positions):
return [stepper_positions[self.rail.get_name()], 0., 0.]
def load_config_prefix(config):
return ManualStepper(config)
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