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klipper-dgus/klippy/extruder.py

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extruder: Create a new class and python file to track the printer extruder Create a new python file (extruder.py) to control the extruder heater and stepper motors. This separates the extruder control logic from the cartesian robot code - making it easier to customize both the kinematic control of the robot as well as the extruder. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 18:23:35 +02:00
# Code for handling printer nozzle extruders
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
extruder: Support a minimum extrude temperature Allow the config file to specify the minimum temperature for the extruder and check for that temperature prior to moving the extruder motor. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-01 01:04:24 +02:00
import stepper, heater, homing
extruder: Create a new class and python file to track the printer extruder Create a new python file (extruder.py) to control the extruder heater and stepper motors. This separates the extruder control logic from the cartesian robot code - making it easier to customize both the kinematic control of the robot as well as the extruder. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 18:23:35 +02:00
class PrinterExtruder:
def __init__(self, printer, config):
extruder: Remove unnecessary getsection('extruder') call The passed in config object is already pointing to the 'extruder' section. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-01 00:49:38 +02:00
self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config)
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
self.pressure_advance = config.getfloat('pressure_advance', 0.)
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
self.need_motor_enable = True
extruder: Create a new class and python file to track the printer extruder Create a new python file (extruder.py) to control the extruder heater and stepper motors. This separates the extruder control logic from the cartesian robot code - making it easier to customize both the kinematic control of the robot as well as the extruder. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 18:23:35 +02:00
self.stepper_pos = 0
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
self.extrude_pos = 0.
extruder: Create a new class and python file to track the printer extruder Create a new python file (extruder.py) to control the extruder heater and stepper motors. This separates the extruder control logic from the cartesian robot code - making it easier to customize both the kinematic control of the robot as well as the extruder. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 18:23:35 +02:00
def build_config(self):
self.heater.build_config()
stepper: Have caller calculate max jerk velocity Allow the owner of the stepper object to cacluate the maximum step jerk velocity. This is used to ensure there is no communication error between mcu and host. Disable checking of jerk velocity for extruder stepper motors. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-22 21:38:13 +02:00
self.stepper.set_max_jerk(9999999.9)
extruder: Create a new class and python file to track the printer extruder Create a new python file (extruder.py) to control the extruder heater and stepper motors. This separates the extruder control logic from the cartesian robot code - making it easier to customize both the kinematic control of the robot as well as the extruder. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 18:23:35 +02:00
self.stepper.build_config()
def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0)
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
self.need_motor_enable = True
toolhead: Allow kinematics class to verify the move prior to queuing it Introduce a check_move() method in the extruder and cartesian kinematic classes. This allows the lower level classes to verify the contents of the move prior to queing that move. The speed and acceleration handling for special Z and extrude only moves are also moved from the generic toolhead class to the low-level classes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-09-30 20:47:45 +02:00
def check_move(self, move):
extruder: Support a minimum extrude temperature Allow the config file to specify the minimum temperature for the extruder and check for that temperature prior to moving the extruder motor. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-01 01:04:24 +02:00
if not self.heater.can_extrude:
toolhead: Store both the start and end position in the Move class Store the start position (in addition to the existing end position) in the Move class. The start position can be useful to the kinematic classes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-26 01:11:05 +02:00
raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
toolhead: Allow kinematics class to verify the move prior to queuing it Introduce a check_move() method in the extruder and cartesian kinematic classes. This allows the lower level classes to verify the contents of the move prior to queing that move. The speed and acceleration handling for special Z and extrude only moves are also moved from the generic toolhead class to the low-level classes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-09-30 20:47:45 +02:00
if (not move.do_calc_junction
and not move.axes_d[0] and not move.axes_d[1]
and not move.axes_d[2]):
# Extrude only move - limit accel and velocity
move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
extruder: Create a new class and python file to track the printer extruder Create a new python file (extruder.py) to control the extruder heater and stepper motors. This separates the extruder control logic from the cartesian robot code - making it easier to customize both the kinematic control of the robot as well as the extruder. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 18:23:35 +02:00
def move(self, move_time, move):
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
if self.need_motor_enable:
self.stepper.motor_enable(move_time, 1)
self.need_motor_enable = False
extruder: Consistently use extrude distance in calculations Avoid mixing the travel distance of the head (and its associated velocity and acceleration) with the distance the filament moves. Instead, use the filament travel distance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 00:28:07 +01:00
axis_d = move.axes_d[3]
extrude_r = axis_d / move.move_d
inv_accel = 1. / (move.accel * extrude_r)
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
extruder: Consistently use extrude distance in calculations Avoid mixing the travel distance of the head (and its associated velocity and acceleration) with the distance the filament moves. Instead, use the filament travel distance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 00:28:07 +01:00
start_v = move.start_v * extrude_r
cruise_v = move.cruise_v * extrude_r
end_v = move.end_v * extrude_r
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
extruder: Consistently use extrude distance in calculations Avoid mixing the travel distance of the head (and its associated velocity and acceleration) with the distance the filament moves. Instead, use the filament travel distance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 00:28:07 +01:00
accel_d = move.accel_r * axis_d
cruise_d = move.cruise_r * axis_d
decel_d = move.decel_r * axis_d
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
retract_t = retract_d = retract_v = 0.
decel_v = cruise_v
# Update for pressure advance
extruder: Don't assume start_v matches last end_v in pressure advance Due to minor differences in the extrude ratio, the last end velocity of the filament may not exactly match the next move's start velocity of the filament. Implement more precise calculations for pressure advance to take this into account. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 02:11:14 +01:00
start_pos = self.extrude_pos
extruder: Consistently use extrude distance in calculations Avoid mixing the travel distance of the head (and its associated velocity and acceleration) with the distance the filament moves. Instead, use the filament travel distance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 00:28:07 +01:00
if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1])
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
and self.pressure_advance):
# Increase accel_d and start_v when accelerating
extruder: Don't assume start_v matches last end_v in pressure advance Due to minor differences in the extrude ratio, the last end velocity of the filament may not exactly match the next move's start velocity of the filament. Implement more precise calculations for pressure advance to take this into account. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 02:11:14 +01:00
move_extrude_r = move.extrude_r
prev_pressure_d = start_pos - move.start_pos[3]
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
if accel_t:
extruder: Don't assume start_v matches last end_v in pressure advance Due to minor differences in the extrude ratio, the last end velocity of the filament may not exactly match the next move's start velocity of the filament. Implement more precise calculations for pressure advance to take this into account. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 02:11:14 +01:00
npd = move.cruise_v * move_extrude_r * self.pressure_advance
extra_accel_d = npd - prev_pressure_d
if extra_accel_d > 0.:
accel_d += extra_accel_d
start_v += extra_accel_d / accel_t
prev_pressure_d += extra_accel_d
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
# Update decel and retract parameters when decelerating
if decel_t:
extruder: Don't do pressure advance on velocity changes due to cornering Due to the lookahead, small changes in the direction of the toolhead cause minor changes in toolhead velocity. These "cornering" velocity changes cause the current extruder code to trigger pressure advance and its associated pressure retract. This causes the extruder to rapidly "jerk" the filament. This code change updates the extruder to detect velocity changes due solely to cornering and avoid pressure advance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 03:43:50 +01:00
if move.corner_min:
npd = move.corner_max*move_extrude_r * self.pressure_advance
extra_decel_d = prev_pressure_d - npd
if move.end_v > move.corner_min:
extra_decel_d *= ((move.cruise_v - move.end_v)
/ (move.cruise_v - move.corner_min))
else:
npd = move.end_v * move_extrude_r * self.pressure_advance
extra_decel_d = prev_pressure_d - npd
extruder: Don't assume start_v matches last end_v in pressure advance Due to minor differences in the extrude ratio, the last end velocity of the filament may not exactly match the next move's start velocity of the filament. Implement more precise calculations for pressure advance to take this into account. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 02:11:14 +01:00
if extra_decel_d > 0.:
extra_decel_v = extra_decel_d / decel_t
decel_v -= extra_decel_v
end_v -= extra_decel_v
if decel_v <= 0.:
# The entire decel phase is replaced with retraction
retract_t = decel_t
retract_d = -(end_v + decel_v) * 0.5 * decel_t
retract_v = -decel_v
decel_t = decel_d = 0.
elif end_v < 0.:
# Split decel phase into decel and retraction
retract_t = -end_v * inv_accel
retract_d = -end_v * 0.5 * retract_t
decel_t -= retract_t
decel_d = decel_v * 0.5 * decel_t
else:
# There is still only a decel phase (no retraction)
decel_d -= extra_decel_d
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
# Prepare for steps
stepper_pos = self.stepper_pos
extruder: Determine start step offset using last commanded position The existing code calculates the number of steps in a move and then spreads them out evenly throughout that move. Change the code so that step timing is based on where the head is commanded to be relative to the stepper step locations. This makes the timing more accurate - in particular the stepper velocities will be more accurate during cornering introduced by the lookahead code. It also results in slightly smoother stepper motion which results in better step compression. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-26 03:06:20 +02:00
inv_step_dist = self.stepper.inv_step_dist
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
step_dist = self.stepper.step_dist
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
mcu_stepper = self.stepper.mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
step_offset = stepper_pos - start_pos * inv_step_dist
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
# Acceleration steps
accel_multiplier = 2.0 * step_dist * inv_accel
if accel_d:
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
accel_time_offset = start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
accel_steps = accel_d * inv_step_dist
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
count = mcu_stepper.step_sqrt(
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
mcu_time - accel_time_offset, accel_steps, step_offset
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
, accel_sqrt_offset, accel_multiplier)
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
stepper_pos += count
step_offset += count - accel_steps
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
mcu_time += accel_t
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
# Cruising steps
if cruise_d:
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
#t = pos/cruise_v
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
cruise_multiplier = step_dist / cruise_v
cruise_steps = cruise_d * inv_step_dist
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
count = mcu_stepper.step_factor(
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
mcu_time, cruise_steps, step_offset, cruise_multiplier)
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
stepper_pos += count
step_offset += count - cruise_steps
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
mcu_time += cruise_t
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
# Deceleration steps
if decel_d:
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
decel_time_offset = decel_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
decel_steps = decel_d * inv_step_dist
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
count = mcu_stepper.step_sqrt(
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
mcu_time + decel_time_offset, decel_steps, step_offset
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
, decel_sqrt_offset, -accel_multiplier)
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
stepper_pos += count
step_offset += count - decel_steps
mcu_time += decel_t
# Retraction steps
if retract_d:
extruder: Add support for "pressure advance" on extrusion Add a config option to define an amount of additional filament to feed into the extruder during acceleration and deceleration of the extruder. This can help ensure plastic is deposited in the correct places during a print. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-17 01:58:41 +02:00
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
mcu: convert stepper, endstop, and digital_out to take mcu_time Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 22:42:25 +02:00
accel_time_offset = retract_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
accel_steps = -retract_d * inv_step_dist
stepper: Check if the motor needs to be enabled in the kinematic classes Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 19:40:35 +01:00
count = mcu_stepper.step_sqrt(
stepcompress: Do all step rounding in C code Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-10 18:44:04 +01:00
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
stepper_pos += count
self.stepper_pos = stepper_pos
self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d