QIDITECH/klipper
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Upload Q1_Pro klipper

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CChen616
2024-05-10 10:41:37 +08:00
parent 81e23fab2b
commit 637c14aa97
459 changed files with 104963 additions and 109121 deletions
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24
klippy/extras/force_move.py
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@@ -32,6 +32,7 @@ class ForceMove:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = {}
self._enable = config.getboolean("enable_force_move", False)
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@@ -44,8 +45,8 @@ class ForceMove:
gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
gcode.register_command('SET_KINEMATIC_POSITION',
self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help)
self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help)
if config.getboolean("enable_force_move", False):
gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE,
desc=self.cmd_FORCE_MOVE_help)
@@ -113,16 +114,18 @@ class ForceMove:
self._restore_enable(stepper, was_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, gcmd):
stepper = self._lookup_stepper(gcmd)
distance = gcmd.get_float('DISTANCE')
speed = gcmd.get_float('VELOCITY', above=0.)
accel = gcmd.get_float('ACCEL', 0., minval=0.)
logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
stepper.get_name(), distance, speed, accel)
self._force_enable(stepper)
self.manual_move(stepper, distance, speed, accel)
if self._enable:
stepper = self._lookup_stepper(gcmd)
distance = gcmd.get_float('DISTANCE')
speed = gcmd.get_float('VELOCITY', above=0.)
accel = gcmd.get_float('ACCEL', 0., minval=0.)
logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
stepper.get_name(), distance, speed, accel)
self._force_enable(stepper)
self.manual_move(stepper, distance, speed, accel)
cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
def cmd_SET_KINEMATIC_POSITION(self, gcmd):
# if self._enable:
toolhead = self.printer.lookup_object('toolhead')
toolhead.get_last_move_time()
curpos = toolhead.get_position()
@@ -131,7 +134,6 @@ class ForceMove:
z = gcmd.get_float('Z', curpos[2])
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
def load_config(config):
return ForceMove(config)