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stepper: Don't store step_dist in PrinterStepper 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-21 14:38:39 -04:00
parent 544f8c1e85
commit 28b7a28651
2 changed files with 16 additions and 12 deletions
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2
klippy/delta.py
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@ -66,7 +66,7 @@ class DeltaKinematics:
s.setup_itersolve(sk) s.setup_itersolve(sk)
# Find the point where an XY move could result in excessive # Find the point where an XY move could result in excessive
# tower movement # tower movement
half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5 half_min_step_dist = min([s.get_step_dist() for s in self.steppers]) * .5
min_arm_length = min(arm_lengths) min_arm_length = min(arm_lengths)
def ratio_to_dist(ratio): def ratio_to_dist(ratio):
return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.) return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.)

26
klippy/stepper.py
View File

@ -43,14 +43,16 @@ class PrinterStepper:
self.mcu_stepper = ppins.setup_pin('stepper', config.get('step_pin')) self.mcu_stepper = ppins.setup_pin('stepper', config.get('step_pin'))
dir_pin_params = ppins.lookup_pin('digital_out', config.get('dir_pin')) dir_pin_params = ppins.lookup_pin('digital_out', config.get('dir_pin'))
self.mcu_stepper.setup_dir_pin(dir_pin_params) self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.step_dist = config.getfloat('step_distance', above=0.) step_dist = config.getfloat('step_distance', above=0.)
self.mcu_stepper.setup_step_distance(self.step_dist) self.mcu_stepper.setup_step_distance(step_dist)
self.step_itersolve = self.mcu_stepper.step_itersolve
self.setup_itersolve = self.mcu_stepper.setup_itersolve
self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None)) self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
# Register STEPPER_BUZZ command # Register STEPPER_BUZZ command
stepper_buzz = printer.try_load_module(config, 'stepper_buzz') stepper_buzz = printer.try_load_module(config, 'stepper_buzz')
stepper_buzz.register_stepper(self, config.get_name()) stepper_buzz.register_stepper(self, config.get_name())
# Wrappers
self.step_itersolve = self.mcu_stepper.step_itersolve
self.setup_itersolve = self.mcu_stepper.setup_itersolve
self.get_step_dist = self.mcu_stepper.get_step_dist
def get_name(self, short=False): def get_name(self, short=False):
if short and self.name.startswith('stepper_'): if short and self.name.startswith('stepper_'):
return self.name[8:] return self.name[8:]
@ -61,10 +63,11 @@ class PrinterStepper:
return math.sqrt(2. * dist / accel + time_offset**2) - time_offset return math.sqrt(2. * dist / accel + time_offset**2) - time_offset
def set_max_jerk(self, max_halt_velocity, max_accel): def set_max_jerk(self, max_halt_velocity, max_accel):
# Calculate the firmware's maximum halt interval time # Calculate the firmware's maximum halt interval time
step_dist = self.get_step_dist()
last_step_time = self._dist_to_time( last_step_time = self._dist_to_time(
self.step_dist, max_halt_velocity, max_accel) step_dist, max_halt_velocity, max_accel)
second_last_step_time = self._dist_to_time( second_last_step_time = self._dist_to_time(
2. * self.step_dist, max_halt_velocity, max_accel) 2. * step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.setup_min_stop_interval(min_stop_interval) self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
def set_position(self, pos): def set_position(self, pos):
@ -123,6 +126,7 @@ class PrinterHomingStepper(PrinterStepper):
'homing_endstop_accuracy', None, above=0.) 'homing_endstop_accuracy', None, above=0.)
self.homing_endstop_accuracy = self.homing_endstop_phase = None self.homing_endstop_accuracy = self.homing_endstop_phase = None
if self.homing_stepper_phases: if self.homing_stepper_phases:
step_dist = self.get_step_dist()
self.homing_endstop_phase = config.getint( self.homing_endstop_phase = config.getint(
'homing_endstop_phase', None, minval=0 'homing_endstop_phase', None, minval=0
, maxval=self.homing_stepper_phases-1) , maxval=self.homing_stepper_phases-1)
@ -132,8 +136,8 @@ class PrinterHomingStepper(PrinterStepper):
micro_steps = self.homing_stepper_phases // 4 micro_steps = self.homing_stepper_phases // 4
phase_offset = ( phase_offset = (
((self.homing_endstop_phase + micro_steps // 2) % micro_steps) ((self.homing_endstop_phase + micro_steps // 2) % micro_steps)
- micro_steps // 2) * self.step_dist - micro_steps // 2) * step_dist
full_step = micro_steps * self.step_dist full_step = micro_steps * step_dist
es_pos = (int(self.position_endstop / full_step + .5) * full_step es_pos = (int(self.position_endstop / full_step + .5) * full_step
+ phase_offset) + phase_offset)
if es_pos != self.position_endstop: if es_pos != self.position_endstop:
@ -145,10 +149,10 @@ class PrinterHomingStepper(PrinterStepper):
self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1 self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
elif self.homing_endstop_phase is not None: elif self.homing_endstop_phase is not None:
self.homing_endstop_accuracy = int(math.ceil( self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy * .5 / self.step_dist)) endstop_accuracy * .5 / step_dist))
else: else:
self.homing_endstop_accuracy = int(math.ceil( self.homing_endstop_accuracy = int(math.ceil(
endstop_accuracy / self.step_dist)) endstop_accuracy / step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2: if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
logging.info("Endstop for %s is not accurate enough for stepper" logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment", self.get_name(short=True)) " phase adjustment", self.get_name(short=True))
@ -178,7 +182,7 @@ class PrinterHomingStepper(PrinterStepper):
raise homing.EndstopError( raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" % ( "Endstop %s incorrect phase (got %d vs %d)" % (
self.get_name(short=True), pos, self.homing_endstop_phase)) self.get_name(short=True), pos, self.homing_endstop_phase))
return delta * self.step_dist return delta * self.get_step_dist()
# Wrapper for dual stepper motor support # Wrapper for dual stepper motor support
class PrinterMultiStepper(PrinterHomingStepper): class PrinterMultiStepper(PrinterHomingStepper):