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
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2d7c3a84ee
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@ -598,6 +598,25 @@
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# with "!". This parameter must be provided.
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# Manual steppers (one may define any number of sections with a
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# "manual_stepper" prefix). These are steppers that are controlled by
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# the MANUAL_STEPPER g-code command. For example: "MANUAL_STEPPER
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# STEPPER=my_stepper MOVE=10 SPEED=5". See the docs/G-Codes.md file
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# for a description of the MANUAL_STEPPER command. The steppers are
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# not connected to the normal printer kinematics.
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#[manual_stepper my_stepper]
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#step_pin:
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#dir_pin:
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#enable_pin:
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#step_distance:
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# See the "[stepper_x]" section in example.cfg for a description of
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# these parameters.
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#endstop_pin:
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# Endstop switch detection pin. If specified, then one may perform
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# "homing moves" by adding a STOP_ON_ENDSTOP parameter to
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# MANUAL_STEPPER movement commands.
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# Run-time configurable output pins (one may define any number of
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# sections with an "output_pin" prefix). Pins configured here will be
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# setup as output pins and one may modify them at run-time using
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@ -162,6 +162,21 @@ enabled:
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- `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]`
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- `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]`
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## Manual stepper Commands
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The following command is available when a "manual_stepper" config
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section is enabled:
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- `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
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[SET_POSITION=<pos>]
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[MOVE=<pos> SPEED=<speed> [STOP_ON_ENDSTOP=1]]`: This command will
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alter the state of the stepper. Use the ENABLE parameter to
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enable/disable the stepper. Use the SET_POSITION parameter to force
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the stepper to think it is at the given position. Use the MOVE
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parameter to request a movement to the given position at the given
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SPEED. If STOP_ON_ENDSTOP is specified then the move will end early
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should the endstop report as triggered (use STOP_ON_ENDSTOP=-1 to
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stop early should the endstop report not triggered).
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## Probe
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The following commands are available when a "probe" config section is
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@ -0,0 +1,117 @@
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# Support for a manual controlled stepper
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#
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# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import stepper, homing, chelper
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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class ManualStepper:
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def __init__(self, config):
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self.printer = config.get_printer()
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if config.get('endstop_pin', None) is not None:
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self.can_home = True
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self.stepper = stepper.PrinterRail(
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config, need_position_minmax=False, default_position_endstop=0.)
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else:
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self.can_home = False
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self.stepper = stepper.PrinterStepper(config)
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self.next_cmd_time = 0.
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
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self.move_fill = ffi_lib.move_fill
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self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
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self.stepper.set_max_jerk(9999999.9, 9999999.9)
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# Register commands
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stepper_name = config.get_name().split()[1]
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
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stepper_name, self.cmd_MANUAL_STEPPER,
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desc=self.cmd_MANUAL_STEPPER_help)
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self.printer.register_event_handler(
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"toolhead:motor_off", self.handle_motor_off)
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def sync_print_time(self):
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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if self.next_cmd_time > print_time:
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toolhead.dwell(self.next_cmd_time - print_time)
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else:
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self.next_cmd_time = print_time
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def do_enable(self, enable):
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self.sync_print_time()
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self.stepper.motor_enable(self.next_cmd_time, enable)
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self.sync_print_time()
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def do_set_position(self, setpos):
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self.stepper.set_position([setpos, 0., 0.])
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def do_move(self, movepos, speed):
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self.sync_print_time()
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cp = self.stepper.get_commanded_position()
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dist = movepos - cp
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move_t = abs(dist / speed)
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self.move_fill(self.cmove, self.next_cmd_time, 0., move_t, 0.,
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cp, 0., 0., dist, 0., 0., 0., speed, 0.)
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self.stepper.step_itersolve(self.cmove)
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self.next_cmd_time += move_t
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self.sync_print_time()
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def do_homing_move(self, movepos, speed, triggered):
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if not self.can_home:
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raise self.gcode.error("No endstop for this manual stepper")
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# Notify endstops of upcoming home
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endstops = self.stepper.get_endstops()
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for mcu_endstop, name in endstops:
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mcu_endstop.home_prepare()
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# Start endstop checking
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self.sync_print_time()
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for mcu_endstop, name in endstops:
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min_step_dist = min([s.get_step_dist()
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for s in mcu_endstop.get_steppers()])
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mcu_endstop.home_start(
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self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
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min_step_dist / speed, triggered=triggered)
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# Issue move
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self.do_move(movepos, speed)
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# Wait for endstops to trigger
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error = None
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for mcu_endstop, name in endstops:
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try:
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mcu_endstop.home_wait(self.next_cmd_time)
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except mcu_endstop.TimeoutError as e:
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if error is None:
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error = "Failed to home %s: %s" % (name, str(e))
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for mcu_endstop, name in endstops:
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try:
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mcu_endstop.home_finalize()
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except homing.EndstopError as e:
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if error is None:
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error = str(e)
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self.sync_print_time()
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if error is not None:
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raise self.gcode.error(error)
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cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
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def cmd_MANUAL_STEPPER(self, params):
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if 'ENABLE' in params:
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self.do_enable(self.gcode.get_int('ENABLE', params))
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if 'SET_POSITION' in params:
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setpos = self.gcode.get_float('SET_POSITION', params)
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self.do_set_position(setpos)
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homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0)
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if homing_move:
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movepos = self.gcode.get_float('MOVE', params)
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speed = self.gcode.get_float('SPEED', params, above=0.)
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if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
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self.do_enable(True)
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self.do_homing_move(movepos, speed, homing_move > 0)
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elif 'MOVE' in params:
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movepos = self.gcode.get_float('MOVE', params)
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speed = self.gcode.get_float('SPEED', params, above=0.)
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if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
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self.do_enable(True)
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self.do_move(movepos, speed)
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def handle_motor_off(self, print_time):
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self.do_enable(0)
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def load_config_prefix(config):
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return ManualStepper(config)
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@ -129,7 +129,7 @@ def get_config_stealthchop(config, tmc_freq):
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velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
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if not velocity:
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return mres, False, 0
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stepper_name = config.get_name().split()[1]
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stepper_name = " ".join(config.get_name().split()[1:])
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stepper_config = config.getsection(stepper_name)
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step_dist = stepper_config.getfloat('step_distance')
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step_dist_256 = step_dist / (1 << mres)
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@ -144,7 +144,7 @@ def get_config_stealthchop(config, tmc_freq):
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class TMC2130:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[1]
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self.name = config.get_name().split()[-1]
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
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# Allow virtual endstop to be created
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self.diag1_pin = config.get('diag1_pin', None)
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@ -259,7 +259,7 @@ def decode_tmc2208_read(reg, data):
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class TMC2208:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[1]
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self.name = config.get_name().split()[-1]
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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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# pin setup
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@ -372,6 +372,7 @@ class ToolHead:
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self.kin.motor_off(last_move_time)
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for ext in kinematics.extruder.get_printer_extruders(self.printer):
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ext.motor_off(last_move_time)
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self.printer.send_event("toolhead:motor_off", last_move_time)
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self.dwell(STALL_TIME)
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logging.debug('; Max time of %f', last_move_time)
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def wait_moves(self):
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@ -0,0 +1,22 @@
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# Test config for manual_stepper
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[manual_stepper basic_stepper]
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step_pin: ar54
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dir_pin: ar55
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enable_pin: !ar38
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step_distance: .0125
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[manual_stepper homing_stepper]
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step_pin: ar60
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dir_pin: !ar61
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enable_pin: !ar56
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step_distance: .0125
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endstop_pin: ^ar14
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[mcu]
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serial: /dev/ttyACM0
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pin_map: arduino
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[printer]
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kinematics: none
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max_velocity: 300
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max_accel: 3000
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@ -0,0 +1,24 @@
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# Test case for manual_stepper
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CONFIG manual_stepper.cfg
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DICTIONARY atmega2560-16mhz.dict
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# Test basic moves
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MANUAL_STEPPER STEPPER=basic_stepper ENABLE=1
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MANUAL_STEPPER STEPPER=basic_stepper SET_POSITION=0
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=10 SPEED=10
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=5 SPEED=5
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MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12
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MANUAL_STEPPER STEPPER=basic_stepper ENABLE=0
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# Test homing move
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MANUAL_STEPPER STEPPER=homing_stepper ENABLE=1
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MANUAL_STEPPER STEPPER=homing_stepper SET_POSITION=0
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MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=10
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MANUAL_STEPPER STEPPER=homing_stepper ENABLE=0
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# Test motor off
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M84
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# Verify stepper_buzz
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STEPPER_BUZZ STEPPER="manual_stepper basic_stepper"
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STEPPER_BUZZ STEPPER="manual_stepper homing_stepper"
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