diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py new file mode 100644 index 000000000..61faaee07 --- /dev/null +++ b/klippy/stepper.py @@ -0,0 +1,67 @@ +# Printer stepper support +# +# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import math, logging + +class PrinterStepper: + def __init__(self, printer, config): + self.printer = printer + self.config = config + self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None + + self.step_dist = config.getfloat('step_distance') + self.inv_step_dist = 1. / self.step_dist + max_velocity = config.getfloat('max_velocity') + self.max_step_velocity = max_velocity * self.inv_step_dist + max_accel = config.getfloat('max_accel') + self.max_step_accel = max_accel * self.inv_step_dist + + self.homing_speed = config.getfloat('homing_speed', 5.0) + self.homing_positive_dir = config.getboolean( + 'homing_positive_dir', False) + self.homing_retract_dist = config.getfloat('homing_retract_dist', 5.) + self.position_min = config.getfloat('position_min', 0.) + self.position_endstop = config.getfloat('position_endstop') + self.position_max = config.getfloat('position_max') + + self.clock_ticks = None + self.need_motor_enable = True + def build_config(self): + self.clock_ticks = self.printer.mcu.get_mcu_freq() + max_error = self.config.getfloat('max_error', 0.000050) + max_error = int(max_error * self.clock_ticks) + + step_pin = self.config.get('step_pin') + dir_pin = self.config.get('dir_pin') + jc = 0.005 # XXX + min_stop_interval = int((math.sqrt(1./self.max_step_accel + jc**2) - jc) + * self.clock_ticks) - max_error + min_stop_interval = max(0, min_stop_interval) + mcu = self.printer.mcu + self.mcu_stepper = mcu.create_stepper( + step_pin, dir_pin, min_stop_interval, max_error) + enable_pin = self.config.get('enable_pin') + if enable_pin is not None: + self.mcu_enable = mcu.create_digital_out(enable_pin, 0) + endstop_pin = self.config.get('endstop_pin') + if endstop_pin is not None: + self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper) + def motor_enable(self, move_time, enable=0): + if (self.mcu_enable is not None + and self.mcu_enable.get_last_setting() != enable): + mc = int(self.mcu_enable.get_print_clock(move_time)) + self.mcu_enable.set_digital(mc + 1, enable) + self.need_motor_enable = True + def prep_move(self, sdir, move_time): + move_clock = self.mcu_stepper.get_print_clock(move_time) + self.mcu_stepper.set_next_step_dir(sdir, int(move_clock)) + if self.need_motor_enable: + self.motor_enable(move_time, 1) + self.need_motor_enable = False + return (move_clock, self.clock_ticks, self.mcu_stepper) + def enable_endstop_checking(self, move_time, hz): + move_clock = int(self.mcu_endstop.get_print_clock(move_time)) + self.mcu_endstop.home(move_clock, int(self.clock_ticks / hz)) + return self.mcu_endstop |