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>
This commit is contained in:
Kevin O'Connor
@@ -13,6 +13,7 @@ class DeltaKinematics:
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steppers = ['stepper_a', 'stepper_b', 'stepper_c']
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self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
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for n in steppers]
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self.need_motor_enable = True
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radius = config.getfloat('delta_radius')
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arm_length = config.getfloat('delta_arm_length')
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self.arm_length2 = arm_length**2
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@@ -105,6 +106,11 @@ class DeltaKinematics:
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self.limit_xy2 = -1.
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for stepper in self.steppers:
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stepper.motor_enable(move_time, 0)
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self.need_motor_enable = True
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def check_motor_enable(self, move_time):
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for i in StepList:
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self.steppers[i].motor_enable(move_time, 1)
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self.need_motor_enable = False
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def query_endstops(self, move_time):
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return homing.QueryEndstops(["a", "b", "c"], self.steppers)
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def check_move(self, move):
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@@ -120,6 +126,8 @@ class DeltaKinematics:
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def move_z(self, move_time, move):
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if not move.axes_d[2]:
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return
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if self.need_motor_enable:
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self.check_motor_enable(move_time)
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inv_accel = 1. / move.accel
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inv_cruise_v = 1. / move.cruise_v
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for i in StepList:
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@@ -128,7 +136,8 @@ class DeltaKinematics:
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tower_d2 = towerx_d**2 + towery_d**2
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height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2]
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mcu_time, so = self.steppers[i].prep_move(move_time)
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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inv_step_dist = self.steppers[i].inv_step_dist
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step_dist = self.steppers[i].step_dist
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steps = move.axes_d[2] * inv_step_dist
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@@ -143,7 +152,7 @@ class DeltaKinematics:
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accel_time_offset = move.start_v * inv_accel
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accel_sqrt_offset = accel_time_offset**2
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accel_steps = move.accel_r * steps
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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step_pos += count
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@@ -154,7 +163,7 @@ class DeltaKinematics:
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#t = pos/cruise_v
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cruise_multiplier = step_dist * inv_cruise_v
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cruise_steps = move.cruise_r * steps
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count = so.step_factor(
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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step_pos += count
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step_offset += count - cruise_steps
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@@ -165,7 +174,7 @@ class DeltaKinematics:
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decel_time_offset = move.cruise_v * inv_accel
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decel_sqrt_offset = decel_time_offset**2
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decel_steps = move.decel_r * steps
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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step_pos += count
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@@ -175,6 +184,8 @@ class DeltaKinematics:
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if not axes_d[0] and not axes_d[1]:
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self.move_z(move_time, move)
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return
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if self.need_motor_enable:
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self.check_motor_enable(move_time)
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move_d = move.move_d
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movez_r = 0.
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inv_movexy_d = 1. / move_d
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@@ -243,44 +254,45 @@ class DeltaKinematics:
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step_dist = self.steppers[i].step_dist
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step_pos = self.stepper_pos[i]
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height = step_pos*step_dist - closestz
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mcu_time, so = self.steppers[i].prep_move(move_time)
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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if accel_up_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, closest_d - accel_up_d,
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step_dist, closest_d + accel_offset,
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closest_height2, height, movez_r, accel_multiplier)
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step_pos += count
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height += count * step_dist
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if cruise_up_d > 0.:
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count = so.step_delta_const(
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, closest_d - cruise_up_d,
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step_dist, closest_d - accel_d,
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closest_height2, height, movez_r, inv_cruise_v)
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step_pos += count
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height += count * step_dist
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if decel_up_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, closest_d - decel_up_d,
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step_dist, closest_d - decel_offset,
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closest_height2, height, movez_r, -accel_multiplier)
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step_pos += count
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height += count * step_dist
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if accel_down_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, closest_d - accel_down_d,
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-step_dist, closest_d + accel_offset,
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closest_height2, height, movez_r, accel_multiplier)
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step_pos += count
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height += count * step_dist
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if cruise_down_d > 0.:
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count = so.step_delta_const(
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, closest_d - cruise_down_d,
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-step_dist, closest_d - accel_d,
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closest_height2, height, movez_r, inv_cruise_v)
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step_pos += count
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height += count * step_dist
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if decel_down_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, closest_d - decel_down_d,
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-step_dist, closest_d - decel_offset,
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closest_height2, height, movez_r, -accel_multiplier)
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