Commit Graph

26 Commits

Author SHA1 Message Date
Kevin O'Connor 8419e152bb klippy: Remove some obscure python2 dependencies
Don't modify dictionaries while iterating them and be careful to use
// when doing an integer divide.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-10 00:12:14 -04:00
Kevin O'Connor 7b03b04c78 klippy: Support minimum/maximum value checks on configuration variables
Verify that numeric parameters are in a sane range when reading the
config.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 11:42:55 -04:00
Kevin O'Connor e4153a536f mcu: Change mcu_stepper.set_position() to take a location in millimeters
Update the set_position() method to convert from millimeters to
absolute step position.

Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:44:17 -04:00
Kevin O'Connor c4b1a79db2 mcu: Pass constant velocity and acceleration directly to mcu_stepper
Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds.  This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:43:56 -04:00
Kevin O'Connor 57f279677f endstop: Support halting more than one stepper on trigger
Extend the endstop code so that more than one stepper can be halted
during endstop homing.  Some kinematic setups (eg, corexy) require an
endstop to support this.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-03 17:27:10 -04:00
Kevin O'Connor c0380d0280 stepper: Disable homing_endstop_accuracy errors on debug runs
If klippy is started in file output debugging, disable the
homing_endstop_accuracy error check.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-31 14:38:09 -04:00
Kevin O'Connor df6d3107f2 stepper: Fix set_min_stop_interval() calculation
The previous calculation was only valid if the stepper is always
commanded to a position that is an exact multiple of the
step_distance.  The safety check was programmed with a value too large
for other commanded positions, which could result in "No next step"
errors.  Fix by changing the calculation to use the worst case
scenario.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 13:15:09 -04:00
Kevin O'Connor d21b9280f0 klippy: Eliminate high-level build_config phase
Now that the mcu objects can be created prior to connecting to the
mcu, it is no longer necessary to separate the init and build_config
phases in the high-level code.  Move the mcu objection creation from
the build_config phase to the init phase and eliminate the
build_config phase.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:38:17 -04:00
Kevin O'Connor 92649332ce mcu: Delay setting of mcu_stepper.min_stop_interval
Create a separate callback for setting the min_stop_interval.

Also, move the setting of the stepper max_error from the stepper
configs to the mcu config and rename it to max_stepper_error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:38:17 -04:00
Kevin O'Connor f46bc0ef04 stepper: Change default max_error from 50us to 25us
Change the default compression error window (max_error) from 50us to
25us - it's common for stepper motor drivers to have 30us for their
"pwm fixed off time" and it would be good for the steps to be
scheduled within that time.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:27 -05:00
Kevin O'Connor 89f5452ddb gcode: Rework homing to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-09 17:09:51 -05:00
Kevin O'Connor a6de1db94d gcode: Rework endstop query to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-09 17:09:51 -05:00
Kevin O'Connor c49d3fdb17 toolhead: Specify maximum acceleration and velocity in toolhead class
Change the config file so the maximum accel and velocity are specified
in the "printer" section instead of the individual "stepper" sections.
The underlying code limits the velocity and accel of the toolhead
relative to the print object, so it makes sense to configure the
system that was as well.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-01 18:17:54 -05:00
Kevin O'Connor 57244de37d klippy: Throw an exception if any required config parameter is missing
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-30 21:19:44 -05:00
Kevin O'Connor 7cf914537b stepper: Raise an EndstopError if invalid phase found during homing
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:39:48 -05:00
Kevin O'Connor 9e1059afb4 homing: Create QueryEndstops class from gcode
Create the QueryEndstops in the gcode handler instead of in the
kinematic classes.  This simplifies the gcode handler as it can
directly register its response callback.

Also, store the stepper name in the stepper class.  Also, propagate
the print_time of the query request to the mcu_endstop class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:09 -05:00
Kevin O'Connor 5a1ec817d4 stepper: Check if the motor needs to be enabled in the kinematic classes
Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 13:40:35 -05:00
Kevin O'Connor 9ad8153d33 stepper: Reset the next step time on a stepper stop
Automatically reset the next step time to zero on a stepper_stop()
call.  This makes the host code simpler as it no longer needs to
schedule an explicit reset_step_clock command on the step after a
homing operation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 13:10:14 -05:00
Kevin O'Connor 7554c7f694 stepcompress: Do all step rounding in C code
Commits f0cefebf and 8f331f08 changed the way the code determined what
steps to take on fractional steps.  Unfortunately, it was possible in
some situations for the C code to round differently from the python
code which could result in warnings and lost steps.

Change the code so that all fractional step handling is done in the C
code.  Implementing the step rounding logic in one location avoids any
conflicts.

In order to efficiently handle the step rounding in the C code, the C
code has also been extended to directly send the "set_next_step_dir"
command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-13 18:29:45 -05:00
Kevin O'Connor 977aabe038 stepper: Return homing offset in steps instead of an absolute position
Rename get_homed_position() to get_homed_offset() and return the
endstop position delta in steps instead of an absolute position
relative to position_endstop.  The conversion to absolute positions
can be dependent on the type of kinematics in use, so is inappropriate
to do in the low level stepper.py code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-13 10:09:56 -04:00
Kevin O'Connor 0685802cb8 homing: Support querying the current status of endstops
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-09-22 11:29:27 -04:00
Kevin O'Connor e52113a319 mcu: convert stepper, endstop, and digital_out to take mcu_time
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 16:42:25 -04:00
Kevin O'Connor 654546e338 stepper: Support stepper phase adjustments when homing
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-28 11:22:28 -04:00
Kevin O'Connor 589017a3d6 stepper: Have caller calculate max jerk velocity
Allow the owner of the stepper object to cacluate the maximum step
jerk velocity.  This is used to ensure there is no communication error
between mcu and host.

Disable checking of jerk velocity for extruder stepper motors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-22 15:42:18 -04:00
Kevin O'Connor 4a527a46ce stepper: Store max_velocity/max_accel instead of max_step_velocity/accel
All users of max_step_velocity and max_step_accel end up multiplying
by step_dist anyway, so it's easier to store max_velocity and
max_accel.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:02 -04:00
Kevin O'Connor f582a36e4d Initial commit of source code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-05-25 11:37:40 -04:00