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manual_stepper: Internally track commanded_pos

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Commit 9399e738 changed the manual_stepper class to no longer
explicitly flush all steps after each move.  As a result, calls to
self.rail.get_commanded_position() may no longer reflect the last
requested position.  This discrepancy could result in "internal
stepcompress" errors.

Change the manual_stepper code to internally track the last requested
position and use that when scheduling moves.  This allows the
manual_stepper code to utilize the standard "lazy" step flushing
mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-20 16:20:12 -04:00
parent d34d3b05b8
commit 91b5e8e942
1 changed files with 13 additions and 6 deletions
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19
klippy/extras/manual_stepper.py
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@ -22,6 +22,7 @@ class ManualStepper:
self.velocity = config.getfloat('velocity', 5., above=0.) self.velocity = config.getfloat('velocity', 5., above=0.)
self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.) self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
self.next_cmd_time = 0. self.next_cmd_time = 0.
self.commanded_pos = 0.
self.pos_min = config.getfloat('position_min', None) self.pos_min = config.getfloat('position_min', None)
self.pos_max = config.getfloat('position_max', None) self.pos_max = config.getfloat('position_max', None)
# Setup iterative solver # Setup iterative solver
@ -60,9 +61,12 @@ class ManualStepper:
se.motor_disable(self.next_cmd_time) se.motor_disable(self.next_cmd_time)
self.sync_print_time() self.sync_print_time()
def do_set_position(self, setpos): def do_set_position(self, setpos):
self.rail.set_position([setpos, 0., 0.]) toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
self.commanded_pos = setpos
self.rail.set_position([self.commanded_pos, 0., 0.])
def _submit_move(self, movetime, movepos, speed, accel): def _submit_move(self, movetime, movepos, speed, accel):
cp = self.rail.get_commanded_position() cp = self.commanded_pos
dist = movepos - cp dist = movepos - cp
axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time( axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
dist, speed, accel) dist, speed, accel)
@ -70,6 +74,7 @@ class ManualStepper:
accel_t, cruise_t, accel_t, accel_t, cruise_t, accel_t,
cp, 0., 0., axis_r, 0., 0., cp, 0., 0., axis_r, 0., 0.,
0., cruise_v, accel) 0., cruise_v, accel)
self.commanded_pos = movepos
return movetime + accel_t + cruise_t + accel_t return movetime + accel_t + cruise_t + accel_t
def do_move(self, movepos, speed, accel, sync=True): def do_move(self, movepos, speed, accel, sync=True):
self.sync_print_time() self.sync_print_time()
@ -149,7 +154,7 @@ class ManualStepper:
self.instant_corner_v = instant_corner_v self.instant_corner_v = instant_corner_v
self.gaxis_limit_velocity = limit_velocity self.gaxis_limit_velocity = limit_velocity
self.gaxis_limit_accel = limit_accel self.gaxis_limit_accel = limit_accel
toolhead.add_extra_axis(self, self.get_position()[0]) toolhead.add_extra_axis(self, self.commanded_pos)
def process_move(self, print_time, move, ea_index): def process_move(self, print_time, move, ea_index):
axis_r = move.axes_r[ea_index] axis_r = move.axes_r[ea_index]
start_pos = move.start_pos[ea_index] start_pos = move.start_pos[ea_index]
@ -161,6 +166,7 @@ class ManualStepper:
start_pos, 0., 0., start_pos, 0., 0.,
1., 0., 0., 1., 0., 0.,
start_v, cruise_v, accel) start_v, cruise_v, accel)
self.commanded_pos = move.end_pos[ea_index]
def check_move(self, move, ea_index): def check_move(self, move, ea_index):
# Check move is in bounds # Check move is in bounds
movepos = move.end_pos[ea_index] movepos = move.end_pos[ea_index]
@ -185,9 +191,10 @@ class ManualStepper:
return self.trapq return self.trapq
# Toolhead wrappers to support homing # Toolhead wrappers to support homing
def flush_step_generation(self): def flush_step_generation(self):
self.sync_print_time() toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
def get_position(self): def get_position(self):
return [self.rail.get_commanded_position(), 0., 0., 0.] return [self.commanded_pos, 0., 0., 0.]
def set_position(self, newpos, homing_axes=""): def set_position(self, newpos, homing_axes=""):
self.do_set_position(newpos[0]) self.do_set_position(newpos[0])
def get_last_move_time(self): def get_last_move_time(self):
@ -206,7 +213,7 @@ class ManualStepper:
# Clear trapq of any remaining parts of movement # Clear trapq of any remaining parts of movement
reactor = self.printer.get_reactor() reactor = self.printer.get_reactor()
self.motion_queuing.wipe_trapq(self.trapq) self.motion_queuing.wipe_trapq(self.trapq)
self.rail.set_position([newpos[0], 0., 0.]) self.rail.set_position([self.commanded_pos, 0., 0.])
self.sync_print_time() self.sync_print_time()
def get_kinematics(self): def get_kinematics(self):
return self return self