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manual_stepper: Add support for moves with acceleration

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
2019-03-03 13:23:45 -05:00
parent 399d539969
commit d62a41b930
6 changed files with 77 additions and 42 deletions
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docs/G-Codes.md
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@@ -170,15 +170,18 @@ enabled:
The following command is available when a "manual_stepper" config
section is enabled:
- `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
[SET_POSITION=<pos>]
[MOVE=<pos> SPEED=<speed> [STOP_ON_ENDSTOP=1]]`: This command will
alter the state of the stepper. Use the ENABLE parameter to
enable/disable the stepper. Use the SET_POSITION parameter to force
the stepper to think it is at the given position. Use the MOVE
parameter to request a movement to the given position at the given
SPEED. If STOP_ON_ENDSTOP is specified then the move will end early
should the endstop report as triggered (use STOP_ON_ENDSTOP=-1 to
stop early should the endstop report not triggered).
[SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>]
[MOVE=<pos> [STOP_ON_ENDSTOP=1]]`: This command will alter the state
of the stepper. Use the ENABLE parameter to enable/disable the
stepper. Use the SET_POSITION parameter to force the stepper to
think it is at the given position. Use the MOVE parameter to request
a movement to the given position. If SPEED and/or ACCEL is specified
then the given values will be used instead of the defaults specified
in the config file. If an ACCEL of zero is specified then no
acceleration will be preformed. If STOP_ON_ENDSTOP is specified then
the move will end early should the endstop report as triggered (use
STOP_ON_ENDSTOP=-1 to stop early should the endstop report not
triggered).
## Probe
@@ -312,16 +315,18 @@ section is enabled:
The following commands are available when the "force_move" config
section is enabled:
- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value>
VELOCITY=<value>`: This command will forcibly move the given stepper
- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> VELOCITY=<value>
[ACCEL=<value>]`: This command will forcibly move the given stepper
the given distance (in mm) at the given constant velocity (in
mm/s). No acceleration is performed; no boundary checks are
performed; no kinematic updates are made; other parallel steppers on
an axis will not be moved. Use caution as an incorrect command could
cause damage! Using this command will almost certainly place the
low-level kinematics in an incorrect state; issue a G28 afterwards
to reset the kinematics. This command is intended for low-level
diagnostics and debugging.
mm/s). If ACCEL is specified and is greater than zero, then the
given acceleration (in mm/s^2) will be used; otherwise no
acceleration is performed. No boundary checks are performed; no
kinematic updates are made; other parallel steppers on an axis will
not be moved. Use caution as an incorrect command could cause
damage! Using this command will almost certainly place the low-level
kinematics in an incorrect state; issue a G28 afterwards to reset
the kinematics. This command is intended for low-level diagnostics
and debugging.
- `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
the low-level kinematic code to believe the toolhead is at the given
cartesian position. This is a diagnostic and debugging command; use