stepper: Add STEPPER_BUZZ command
Add a new command that can help diagnose stepper motor connectivity. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -88,6 +88,9 @@ The following standard commands are supported:
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[ADVANCE_LOOKAHEAD_TIME=<pressure_advance_lookahead_time>]`:
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[ADVANCE_LOOKAHEAD_TIME=<pressure_advance_lookahead_time>]`:
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Set pressure advance parameters. If EXTRUDER is not specified, it
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Set pressure advance parameters. If EXTRUDER is not specified, it
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defaults to the active extruder.
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defaults to the active extruder.
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- `STEPPER_BUZZ STEPPER=<config_name>`: Move the given stepper forward
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one mm and then backward one mm, repeated 10 times. This is a
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diagnostic tool to help verify stepper connectivity.
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- `RESTART`: This will cause the host software to reload its config
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- `RESTART`: This will cause the host software to reload its config
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and perform an internal reset. This command will not clear error
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and perform an internal reset. This command will not clear error
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state from the micro-controller (see FIRMWARE_RESTART) nor will it
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state from the micro-controller (see FIRMWARE_RESTART) nor will it
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@ -78,12 +78,15 @@ class MCU_stepper:
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return int(mcu_pos + 0.5)
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return int(mcu_pos + 0.5)
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return int(mcu_pos - 0.5)
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return int(mcu_pos - 0.5)
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def set_ignore_move(self, ignore_move):
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def set_ignore_move(self, ignore_move):
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was_ignore = (self._stepcompress_push_const
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is not self._ffi_lib.stepcompress_push_const)
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if ignore_move:
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if ignore_move:
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self._stepcompress_push_const = (lambda *args: 0)
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self._stepcompress_push_const = (lambda *args: 0)
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self._stepcompress_push_delta = (lambda *args: 0)
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self._stepcompress_push_delta = (lambda *args: 0)
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else:
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else:
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self._stepcompress_push_const = self._ffi_lib.stepcompress_push_const
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self._stepcompress_push_const = self._ffi_lib.stepcompress_push_const
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self._stepcompress_push_delta = self._ffi_lib.stepcompress_push_delta
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self._stepcompress_push_delta = self._ffi_lib.stepcompress_push_delta
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return was_ignore
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def note_homing_start(self, homing_clock):
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def note_homing_start(self, homing_clock):
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ret = self._ffi_lib.stepcompress_set_homing(
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ret = self._ffi_lib.stepcompress_set_homing(
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self._stepqueue, homing_clock)
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self._stepqueue, homing_clock)
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@ -35,6 +35,7 @@ def lookup_enable_pin(ppins, pin):
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# Code storing the definitions for a stepper motor
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# Code storing the definitions for a stepper motor
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class PrinterStepper:
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class PrinterStepper:
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def __init__(self, printer, config):
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def __init__(self, printer, config):
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self.printer = printer
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self.name = config.get_name()
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self.name = config.get_name()
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if self.name.startswith('stepper_'):
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if self.name.startswith('stepper_'):
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self.name = self.name[8:]
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self.name = self.name[8:]
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@ -50,6 +51,11 @@ class PrinterStepper:
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self.step_const = self.mcu_stepper.step_const
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self.step_const = self.mcu_stepper.step_const
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self.step_delta = self.mcu_stepper.step_delta
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self.step_delta = self.mcu_stepper.step_delta
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self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
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self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
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# Register STEPPER_BUZZ command
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self.gcode = printer.lookup_object('gcode')
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self.gcode.register_mux_command(
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'STEPPER_BUZZ', 'STEPPER', config.get_name(), self.cmd_STEPPER_BUZZ,
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desc=self.cmd_STEPPER_BUZZ_help)
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def _dist_to_time(self, dist, start_velocity, accel):
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def _dist_to_time(self, dist, start_velocity, accel):
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# Calculate the time it takes to travel a distance with constant accel
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# Calculate the time it takes to travel a distance with constant accel
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time_offset = start_velocity / accel
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time_offset = start_velocity / accel
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@ -68,6 +74,30 @@ class PrinterStepper:
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if self.need_motor_enable != (not enable):
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if self.need_motor_enable != (not enable):
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self.enable.set_enable(print_time, enable)
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self.enable.set_enable(print_time, enable)
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self.need_motor_enable = not enable
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self.need_motor_enable = not enable
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cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
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def cmd_STEPPER_BUZZ(self, params):
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logging.info("Stepper buzz %s", self.name)
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need_motor_enable = self.need_motor_enable
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# Move stepper
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.wait_moves()
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pos = self.mcu_stepper.get_commanded_position()
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print_time = toolhead.get_last_move_time()
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if need_motor_enable:
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self.motor_enable(print_time, 1)
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print_time += .1
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was_ignore = self.mcu_stepper.set_ignore_move(False)
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for i in range(10):
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self.step_const(print_time, pos, 1., 4., 0.)
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print_time += .3
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self.step_const(print_time, pos + 1., -1., 4., 0.)
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toolhead.reset_print_time(print_time + .7)
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print_time = toolhead.get_last_move_time()
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self.mcu_stepper.set_ignore_move(was_ignore)
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if need_motor_enable:
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print_time += .1
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self.motor_enable(print_time, 0)
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toolhead.reset_print_time(print_time)
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# Support for stepper controlled linear axis with an endstop
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# Support for stepper controlled linear axis with an endstop
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class PrinterHomingStepper(PrinterStepper):
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class PrinterHomingStepper(PrinterStepper):
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