From 64e01f03a20f4d895f4baa5d5f72870f800f5830 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 30 Apr 2025 19:05:47 -0400 Subject: [PATCH] manual_stepper: Support INSTANTANEOUS_CORNER_VELOCITY on gcode axes Signed-off-by: Kevin O'Connor --- docs/G-Codes.md | 25 ++++++++++++++----------- klippy/extras/manual_stepper.py | 8 +++++++- 2 files changed, 21 insertions(+), 12 deletions(-) diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 6d69dd9c..48aa0363 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -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=]`: 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] diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 4c24ff75..6e02ee86 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -31,6 +31,7 @@ class ManualStepper: self.rail.set_trapq(self.trapq) # Registered with toolhead as an axtra axis self.axis_gcode_id = None + self.instant_corner_v = 0. # Register commands stepper_name = config.get_name().split()[1] gcode = self.printer.lookup_object('gcode') @@ -119,6 +120,8 @@ class ManualStepper: gcode_move = self.printer.lookup_object("gcode_move") toolhead = self.printer.lookup_object('toolhead') gcode_axis = gcmd.get('GCODE_AXIS').upper() + instant_corner_v = gcmd.get_float('INSTANTANEOUS_CORNER_VELOCITY', 1., + minval=0.) if self.axis_gcode_id is not None: if gcode_axis: raise gcmd.error("Must unregister axis first") @@ -137,6 +140,7 @@ class ManualStepper: if ea is not None and ea.get_axis_gcode_id() == gcode_axis: raise gcmd.error("Axis '%s' already registered" % (gcode_axis,)) self.axis_gcode_id = gcode_axis + self.instant_corner_v = instant_corner_v toolhead.add_extra_axis(self, self.get_position()[0]) toolhead.register_step_generator(self.rail.generate_steps) def process_move(self, print_time, move, ea_index): @@ -156,7 +160,9 @@ class ManualStepper: # XXX - support non-kinematic max accel/velocity pass def calc_junction(self, prev_move, move, ea_index): - # XXX - support max instantaneous velocity change + diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index] + if diff_r: + return (self.instant_corner_v / abs(diff_r))**2 return move.max_cruise_v2 def get_axis_gcode_id(self): return self.axis_gcode_id