manual_stepper: Add an "extras" module for manually controlling a stepper

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-02-08 20:11:05 -05:00
parent 57e6acbc5c
commit 2d7c3a84ee
8 changed files with 201 additions and 3 deletions

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@ -598,6 +598,25 @@
# with "!". This parameter must be provided. # with "!". This parameter must be provided.
# Manual steppers (one may define any number of sections with a
# "manual_stepper" prefix). These are steppers that are controlled by
# the MANUAL_STEPPER g-code command. For example: "MANUAL_STEPPER
# STEPPER=my_stepper MOVE=10 SPEED=5". See the docs/G-Codes.md file
# for a description of the MANUAL_STEPPER command. The steppers are
# not connected to the normal printer kinematics.
#[manual_stepper my_stepper]
#step_pin:
#dir_pin:
#enable_pin:
#step_distance:
# See the "[stepper_x]" section in example.cfg for a description of
# these parameters.
#endstop_pin:
# Endstop switch detection pin. If specified, then one may perform
# "homing moves" by adding a STOP_ON_ENDSTOP parameter to
# MANUAL_STEPPER movement commands.
# Run-time configurable output pins (one may define any number of # Run-time configurable output pins (one may define any number of
# sections with an "output_pin" prefix). Pins configured here will be # sections with an "output_pin" prefix). Pins configured here will be
# setup as output pins and one may modify them at run-time using # setup as output pins and one may modify them at run-time using

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@ -162,6 +162,21 @@ enabled:
- `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]` - `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]`
- `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]` - `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]`
## Manual stepper Commands
The following command is available when a "manual_stepper" config
section is enabled:
- `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
[SET_POSITION=<pos>]
[MOVE=<pos> SPEED=<speed> [STOP_ON_ENDSTOP=1]]`: This command will
alter the state of the stepper. Use the ENABLE parameter to
enable/disable the stepper. Use the SET_POSITION parameter to force
the stepper to think it is at the given position. Use the MOVE
parameter to request a movement to the given position at the given
SPEED. If STOP_ON_ENDSTOP is specified then the move will end early
should the endstop report as triggered (use STOP_ON_ENDSTOP=-1 to
stop early should the endstop report not triggered).
## Probe ## Probe
The following commands are available when a "probe" config section is The following commands are available when a "probe" config section is

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@ -0,0 +1,117 @@
# 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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@ -129,7 +129,7 @@ def get_config_stealthchop(config, tmc_freq):
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.) velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
if not velocity: if not velocity:
return mres, False, 0 return mres, False, 0
stepper_name = config.get_name().split()[1] stepper_name = " ".join(config.get_name().split()[1:])
stepper_config = config.getsection(stepper_name) stepper_config = config.getsection(stepper_name)
step_dist = stepper_config.getfloat('step_distance') step_dist = stepper_config.getfloat('step_distance')
step_dist_256 = step_dist / (1 << mres) step_dist_256 = step_dist / (1 << mres)
@ -144,7 +144,7 @@ def get_config_stealthchop(config, tmc_freq):
class TMC2130: class TMC2130:
def __init__(self, config): def __init__(self, config):
self.printer = config.get_printer() self.printer = config.get_printer()
self.name = config.get_name().split()[1] self.name = config.get_name().split()[-1]
self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000) self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
# Allow virtual endstop to be created # Allow virtual endstop to be created
self.diag1_pin = config.get('diag1_pin', None) self.diag1_pin = config.get('diag1_pin', None)

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@ -259,7 +259,7 @@ def decode_tmc2208_read(reg, data):
class TMC2208: class TMC2208:
def __init__(self, config): def __init__(self, config):
self.printer = config.get_printer() self.printer = config.get_printer()
self.name = config.get_name().split()[1] self.name = config.get_name().split()[-1]
self.printer.register_event_handler("klippy:connect", self.printer.register_event_handler("klippy:connect",
self.handle_connect) self.handle_connect)
# pin setup # pin setup

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@ -372,6 +372,7 @@ class ToolHead:
self.kin.motor_off(last_move_time) self.kin.motor_off(last_move_time)
for ext in kinematics.extruder.get_printer_extruders(self.printer): for ext in kinematics.extruder.get_printer_extruders(self.printer):
ext.motor_off(last_move_time) ext.motor_off(last_move_time)
self.printer.send_event("toolhead:motor_off", last_move_time)
self.dwell(STALL_TIME) self.dwell(STALL_TIME)
logging.debug('; Max time of %f', last_move_time) logging.debug('; Max time of %f', last_move_time)
def wait_moves(self): def wait_moves(self):

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@ -0,0 +1,22 @@
# Test config for manual_stepper
[manual_stepper basic_stepper]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .0125
[manual_stepper homing_stepper]
step_pin: ar60
dir_pin: !ar61
enable_pin: !ar56
step_distance: .0125
endstop_pin: ^ar14
[mcu]
serial: /dev/ttyACM0
pin_map: arduino
[printer]
kinematics: none
max_velocity: 300
max_accel: 3000

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@ -0,0 +1,24 @@
# Test case for manual_stepper
CONFIG manual_stepper.cfg
DICTIONARY atmega2560-16mhz.dict
# Test basic moves
MANUAL_STEPPER STEPPER=basic_stepper ENABLE=1
MANUAL_STEPPER STEPPER=basic_stepper SET_POSITION=0
MANUAL_STEPPER STEPPER=basic_stepper MOVE=10 SPEED=10
MANUAL_STEPPER STEPPER=basic_stepper MOVE=5 SPEED=5
MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12
MANUAL_STEPPER STEPPER=basic_stepper ENABLE=0
# Test homing move
MANUAL_STEPPER STEPPER=homing_stepper ENABLE=1
MANUAL_STEPPER STEPPER=homing_stepper SET_POSITION=0
MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=10
MANUAL_STEPPER STEPPER=homing_stepper ENABLE=0
# Test motor off
M84
# Verify stepper_buzz
STEPPER_BUZZ STEPPER="manual_stepper basic_stepper"
STEPPER_BUZZ STEPPER="manual_stepper homing_stepper"