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manual_stepper: Support INSTANTANEOUS_CORNER_VELOCITY on gcode axes

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
2025-04-30 19:05:47 -04:00
parent 7201f41664
commit 64e01f03a2
2 changed files with 21 additions and 12 deletions
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docs/G-Codes.md
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@@ -968,17 +968,20 @@ scheduled to run after the stepper move completes, however if a manual
stepper move uses SYNC=0 then future G-Code movement commands may run
in parallel with the stepper movement.
`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]`: If the
`GCODE_AXIS` parameter is specified then it configures the stepper
motor as an extra axis on `G1` move commands. For example, if one
were to issue a `MANUAL_STEPPER ... GCODE_AXIS=R` command then one
could issue commands like `G1 X10 Y20 R30` to move the stepper motor.
The resulting moves will occur synchronously with the associated
toolhead xyz movements. If the motor is associated with a
`GCODE_AXIS` then one may no longer issue movements using the above
`MANUAL_STEPPER` command - one may unregister the stepper with a
`MANUAL_STEPPER ... GCODE_AXIS=` command to resume manual control of
the motor.
`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]
[INSTANTANEOUS_CORNER_VELOCITY=<velocity>]`: If the `GCODE_AXIS`
parameter is specified then it configures the stepper motor as an
extra axis on `G1` move commands. For example, if one were to issue a
`MANUAL_STEPPER ... GCODE_AXIS=R` command then one could issue
commands like `G1 X10 Y20 R30` to move the stepper motor. The
resulting moves will occur synchronously with the associated toolhead
xyz movements. If the motor is associated with a `GCODE_AXIS` then
one may no longer issue movements using the above `MANUAL_STEPPER`
command - one may unregister the stepper with a `MANUAL_STEPPER
... GCODE_AXIS=` command to resume manual control of the motor. The
`INSTANTANEOUS_CORNER_VELOCITY` specifies the maximum instantaneous
velocity change (in mm/s) of the motor during the junction of two
moves (the default is 1mm/s).
### [mcp4018]