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stepper: Track if using units of radians instead of millimeters

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The STEPPER_BUZZ command needs to know if the axis is using radians
instead of millimeters so that it can move a more appropriate
distance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-12-04 18:42:59 -05:00
parent bcf10aa990
commit 97d976fc53
3 changed files with 23 additions and 9 deletions
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12
klippy/extras/force_move.py
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@@ -6,7 +6,10 @@
import math, logging
import chelper
BUZZ_VELOCITY = 4.
BUZZ_DISTANCE = 1.
BUZZ_VELOCITY = BUZZ_DISTANCE / .250
BUZZ_RADIANS_DISTANCE = math.radians(1.)
BUZZ_RADIANS_VELOCITY = BUZZ_RADIANS_DISTANCE / .250
STALL_TIME = 0.100
# Calculate a move's accel_t, cruise_t, and cruise_v
@@ -95,10 +98,13 @@ class ForceMove:
logging.info("Stepper buzz %s", stepper.get_name())
was_enable = self.force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead')
dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY
if stepper.units_in_radians():
dist, speed = BUZZ_RADIANS_DISTANCE, BUZZ_RADIANS_VELOCITY
for i in range(10):
self.manual_move(stepper, 1., BUZZ_VELOCITY)
self.manual_move(stepper, dist, speed)
toolhead.dwell(.050)
self.manual_move(stepper, -1., BUZZ_VELOCITY)
self.manual_move(stepper, -dist, speed)
toolhead.dwell(.450)
self.restore_enable(stepper, was_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"