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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>
This commit is contained in:
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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25
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 stepper move uses SYNC=0 then future G-Code movement commands may run
in parallel with the stepper movement. in parallel with the stepper movement.
`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]`: If the `MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]
`GCODE_AXIS` parameter is specified then it configures the stepper [INSTANTANEOUS_CORNER_VELOCITY=<velocity>]`: If the `GCODE_AXIS`
motor as an extra axis on `G1` move commands. For example, if one parameter is specified then it configures the stepper motor as an
were to issue a `MANUAL_STEPPER ... GCODE_AXIS=R` command then one extra axis on `G1` move commands. For example, if one were to issue a
could issue commands like `G1 X10 Y20 R30` to move the stepper motor. `MANUAL_STEPPER ... GCODE_AXIS=R` command then one could issue
The resulting moves will occur synchronously with the associated commands like `G1 X10 Y20 R30` to move the stepper motor. The
toolhead xyz movements. If the motor is associated with a resulting moves will occur synchronously with the associated toolhead
`GCODE_AXIS` then one may no longer issue movements using the above xyz movements. If the motor is associated with a `GCODE_AXIS` then
`MANUAL_STEPPER` command - one may unregister the stepper with a one may no longer issue movements using the above `MANUAL_STEPPER`
`MANUAL_STEPPER ... GCODE_AXIS=` command to resume manual control of command - one may unregister the stepper with a `MANUAL_STEPPER
the motor. ... 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] ### [mcp4018]

8
klippy/extras/manual_stepper.py
View File

@ -31,6 +31,7 @@ class ManualStepper:
self.rail.set_trapq(self.trapq) self.rail.set_trapq(self.trapq)
# Registered with toolhead as an axtra axis # Registered with toolhead as an axtra axis
self.axis_gcode_id = None self.axis_gcode_id = None
self.instant_corner_v = 0.
# Register commands # Register commands
stepper_name = config.get_name().split()[1] stepper_name = config.get_name().split()[1]
gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
@ -119,6 +120,8 @@ class ManualStepper:
gcode_move = self.printer.lookup_object("gcode_move") gcode_move = self.printer.lookup_object("gcode_move")
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
gcode_axis = gcmd.get('GCODE_AXIS').upper() 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 self.axis_gcode_id is not None:
if gcode_axis: if gcode_axis:
raise gcmd.error("Must unregister axis first") 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: if ea is not None and ea.get_axis_gcode_id() == gcode_axis:
raise gcmd.error("Axis '%s' already registered" % (gcode_axis,)) raise gcmd.error("Axis '%s' already registered" % (gcode_axis,))
self.axis_gcode_id = 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.add_extra_axis(self, self.get_position()[0])
toolhead.register_step_generator(self.rail.generate_steps) toolhead.register_step_generator(self.rail.generate_steps)
def process_move(self, print_time, move, ea_index): def process_move(self, print_time, move, ea_index):
@ -156,7 +160,9 @@ class ManualStepper:
# XXX - support non-kinematic max accel/velocity # XXX - support non-kinematic max accel/velocity
pass pass
def calc_junction(self, prev_move, move, ea_index): 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 return move.max_cruise_v2
def get_axis_gcode_id(self): def get_axis_gcode_id(self):
return self.axis_gcode_id return self.axis_gcode_id