stepper: Track if using units of radians instead of millimeters

The STEPPER_BUZZ command needs to know if the axis is using radians
instead of millimeters so that it can move a more appropriate
distance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/force_move.py

@@ -6,7 +6,10 @@
 import math, logging
 import chelper
 
-BUZZ_VELOCITY = 4.
+BUZZ_DISTANCE = 1.
+BUZZ_VELOCITY = BUZZ_DISTANCE / .250
+BUZZ_RADIANS_DISTANCE = math.radians(1.)
+BUZZ_RADIANS_VELOCITY = BUZZ_RADIANS_DISTANCE / .250
 STALL_TIME = 0.100
 
 # Calculate a move's accel_t, cruise_t, and cruise_v
@@ -95,10 +98,13 @@ class ForceMove:
         logging.info("Stepper buzz %s", stepper.get_name())
         was_enable = self.force_enable(stepper)
         toolhead = self.printer.lookup_object('toolhead')
+        dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY
+        if stepper.units_in_radians():
+            dist, speed = BUZZ_RADIANS_DISTANCE, BUZZ_RADIANS_VELOCITY
         for i in range(10):
-            self.manual_move(stepper, 1., BUZZ_VELOCITY)
+            self.manual_move(stepper, dist, speed)
             toolhead.dwell(.050)
-            self.manual_move(stepper, -1., BUZZ_VELOCITY)
+            self.manual_move(stepper, -dist, speed)
             toolhead.dwell(.450)
         self.restore_enable(stepper, was_enable)
     cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"

klippy/kinematics/polar.py

@@ -9,7 +9,8 @@ import stepper, homing
 class PolarKinematics:
     def __init__(self, toolhead, config):
         # Setup axis steppers
-        stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'))
+        stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'),
+                                             units_in_radians=True)
         rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
         rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
         stepper_bed.setup_itersolve('polar_stepper_alloc', 'a')

klippy/stepper.py

@@ -16,9 +16,11 @@ class error(Exception):
 
 # Interface to low-level mcu and chelper code
 class MCU_stepper:
-    def __init__(self, name, step_pin_params, dir_pin_params, step_dist):
+    def __init__(self, name, step_pin_params, dir_pin_params, step_dist,
+                 units_in_radians=False):
         self._name = name
         self._step_dist = step_dist
+        self._units_in_radians = units_in_radians
         self._mcu = step_pin_params['chip']
         self._oid = oid = self._mcu.create_oid()
         self._mcu.register_config_callback(self._build_config)
@@ -47,6 +49,9 @@ class MCU_stepper:
         if short and self._name.startswith('stepper_'):
             return self._name[8:]
         return self._name
+    def units_in_radians(self):
+        # Returns true if distances are in radians instead of millimeters
+        return self._units_in_radians
     def _dist_to_time(self, dist, start_velocity, accel):
         # Calculate the time it takes to travel a distance with constant accel
         time_offset = start_velocity / accel
@@ -159,7 +164,7 @@ class MCU_stepper:
             raise error("Internal error in stepcompress")
 
 # Helper code to build a stepper object from a config section
-def PrinterStepper(config):
+def PrinterStepper(config, units_in_radians=False):
     printer = config.get_printer()
     name = config.get_name()
     # Stepper definition
@@ -169,7 +174,8 @@ def PrinterStepper(config):
     dir_pin = config.get('dir_pin')
     dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True)
     step_dist = config.getfloat('step_distance', above=0.)
-    mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist)
+    mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist,
+                              units_in_radians)
     # Support for stepper enable pin handling
     stepper_enable = printer.try_load_module(config, 'stepper_enable')
     stepper_enable.register_stepper(mcu_stepper, config.get('enable_pin', None))
@@ -187,8 +193,9 @@ def PrinterStepper(config):
 # endstops.
 class PrinterRail:
     def __init__(self, config, need_position_minmax=True,
-                 default_position_endstop=None):
+                 default_position_endstop=None, units_in_radians=False):
         # Primary stepper and endstop
+        self.stepper_units_in_radians = units_in_radians
         self.steppers = []
         self.endstops = []
         self.add_extra_stepper(config)
@@ -250,7 +257,7 @@ class PrinterRail:
     def get_endstops(self):
         return list(self.endstops)
     def add_extra_stepper(self, config):
-        stepper = PrinterStepper(config)
+        stepper = PrinterStepper(config, self.stepper_units_in_radians)
         self.steppers.append(stepper)
         if self.endstops and config.get('endstop_pin', None) is None:
             # No endstop defined - use primary endstop