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stepper: Separate out homing code to its own PrinterHomingStepper class

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Keep the homing code separate from the main stepper class.  This makes
it easier to verify the correct config parameters are provided.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-07-24 13:54:46 -04:00
parent 8ce042bf04
commit 143b7cccf4
4 changed files with 45 additions and 42 deletions
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2
klippy/cartesian.py
View File

@@ -10,7 +10,7 @@ StepList = (0, 1, 2)
class CartKinematics:
def __init__(self, printer, config):
self.steppers = [stepper.PrinterStepper(
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
self.max_z_velocity = config.getfloat(

2
klippy/corexy.py
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@@ -10,7 +10,7 @@ StepList = (0, 1, 2)
class CoreXYKinematics:
def __init__(self, printer, config):
self.steppers = [stepper.PrinterStepper(
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)

2
klippy/delta.py
View File

@@ -14,7 +14,7 @@ SLOW_RATIO = 3.
class DeltaKinematics:
def __init__(self, printer, config):
self.config = config
self.steppers = [stepper.PrinterStepper(
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['a', 'b', 'c']]
self.need_motor_enable = self.need_home = True

81
klippy/stepper.py
View File

@@ -13,6 +13,48 @@ class PrinterStepper:
self.step_dist = config.getfloat('step_distance', above=0.)
self.inv_step_dist = 1. / self.step_dist
self.min_stop_interval = 0.
step_pin = config.get('step_pin')
dir_pin = config.get('dir_pin')
self.mcu_stepper = printer.mcu.create_stepper(step_pin, dir_pin)
self.mcu_stepper.set_step_distance(self.step_dist)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = printer.mcu.create_digital_out(enable_pin, 0)
self.need_motor_enable = True
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
return math.sqrt(2. * dist / accel + time_offset**2) - time_offset
def set_max_jerk(self, max_halt_velocity, max_accel):
# Calculate the firmware's maximum halt interval time
last_step_time = self._dist_to_time(
self.step_dist, max_halt_velocity, max_accel)
second_last_step_time = self._dist_to_time(
2. * self.step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.set_min_stop_interval(min_stop_interval)
def motor_enable(self, move_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
self.mcu_stepper.reset_step_clock(mcu_time)
if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable):
mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
self.mcu_enable.set_digital(mcu_time, enable)
self.need_motor_enable = not enable
class PrinterHomingStepper(PrinterStepper):
def __init__(self, printer, config, name):
PrinterStepper.__init__(self, printer, config, name)
endstop_pin = config.get('endstop_pin', None)
self.mcu_endstop = printer.mcu.create_endstop(endstop_pin)
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(
'position_max', 0., above=self.position_min)
self.position_endstop = config.getfloat('position_endstop')
self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
self.homing_positive_dir = config.getboolean(
@@ -42,45 +84,6 @@ class PrinterStepper:
self.homing_stepper_phases = None
if printer.mcu.is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
self.position_min = self.position_endstop = self.position_max = None
endstop_pin = config.get('endstop_pin', None)
step_pin = config.get('step_pin')
dir_pin = config.get('dir_pin')
mcu = printer.mcu
self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
self.mcu_stepper.set_step_distance(self.step_dist)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin)
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(
'position_max', 0., above=self.position_min)
self.position_endstop = config.getfloat('position_endstop')
self.need_motor_enable = True
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
return math.sqrt(2. * dist / accel + time_offset**2) - time_offset
def set_max_jerk(self, max_halt_velocity, max_accel):
# Calculate the firmware's maximum halt interval time
last_step_time = self._dist_to_time(
self.step_dist, max_halt_velocity, max_accel)
second_last_step_time = self._dist_to_time(
2. * self.step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.set_min_stop_interval(min_stop_interval)
def motor_enable(self, move_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
self.mcu_stepper.reset_step_clock(mcu_time)
if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable):
mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
self.mcu_enable.set_digital(mcu_time, enable)
self.need_motor_enable = not enable
def enable_endstop_checking(self, move_time, step_time):
mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
self.mcu_endstop.home_start(mcu_time, step_time)