h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

manual_stepper: Implement "drip moves" for manual stepper STOP_ON_ENDSTOP

Browse Source 
Currently, `MANUAL_STEPPER STOP_ON_ENDSTOP=1` type commands will move
until hitting the endstop, but it will still always consume the total
amount of move time.  That is, following moves can't be started until
the total possible time of the homing move is completed.

Implement "drip moves" so that the code only schedules the movement in
small segments.  This allows following movements to be scheduled
without a significant delay.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-04-12 16:54:49 -04:00
parent 765de72f9e
commit db7a9cf071
3 changed files with 27 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
klippy/extras/manual_stepper.py
View File

@@ -55,17 +55,20 @@ class ManualStepper:
self.sync_print_time()
def do_set_position(self, setpos):
self.rail.set_position([setpos, 0., 0.])
def do_move(self, movepos, speed, accel, sync=True):
self.sync_print_time()
def _submit_move(self, movetime, movepos, speed, accel):
cp = self.rail.get_commanded_position()
dist = movepos - cp
axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
dist, speed, accel)
self.trapq_append(self.trapq, self.next_cmd_time,
self.trapq_append(self.trapq, movetime,
accel_t, cruise_t, accel_t,
cp, 0., 0., axis_r, 0., 0.,
0., cruise_v, accel)
self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t
return movetime + accel_t + cruise_t + accel_t
def do_move(self, movepos, speed, accel, sync=True):
self.sync_print_time()
self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos,
speed, accel)
self.rail.generate_steps(self.next_cmd_time)
self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,
self.next_cmd_time + 99999.9)
@@ -117,7 +120,18 @@ class ManualStepper:
def dwell(self, delay):
self.next_cmd_time += max(0., delay)
def drip_move(self, newpos, speed, drip_completion):
self.do_move(newpos[0], speed, self.homing_accel)
# Submit move to trapq
self.sync_print_time()
maxtime = self._submit_move(self.next_cmd_time, newpos[0],
speed, self.homing_accel)
# Drip updates to motors
toolhead = self.printer.lookup_object('toolhead')
toolhead.drip_update_time(maxtime, drip_completion, self.steppers)
# Clear trapq of any remaining parts of movement
reactor = self.printer.get_reactor()
self.trapq_finalize_moves(self.trapq, reactor.NEVER, 0)
self.rail.set_position([newpos[0], 0., 0.])
self.sync_print_time()
def get_kinematics(self):
return self
def get_steppers(self):