mirror of https://github.com/Desuuuu/klipper.git
253 lines
11 KiB
Python
253 lines
11 KiB
Python
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# Code for handling cartesian (standard x, y, z planes) moves
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#
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# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging, time
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import lookahead, stepper, homing
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# Common suffixes: _d is distance (in mm), _v is velocity (in
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# mm/second), _t is time (in seconds), _r is ratio (scalar between
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# 0.0 and 1.0)
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StepList = (0, 1, 2, 3)
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class Move:
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def __init__(self, kin, relsteps, speed):
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self.kin = kin
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self.relsteps = relsteps
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self.junction_max = self.junction_start_max = self.junction_delta = 0.
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# Calculate requested distance to travel (in mm)
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steppers = self.kin.steppers
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absrelsteps = [abs(relsteps[i]) for i in StepList]
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stepper_d = [absrelsteps[i] * steppers[i].step_dist
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for i in StepList]
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self.move_d = math.sqrt(sum([d*d for d in stepper_d[:3]]))
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if not self.move_d:
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self.move_d = stepper_d[3]
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if not self.move_d:
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return
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# Limit velocity to max for each stepper
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velocity_factor = min([steppers[i].max_step_velocity / absrelsteps[i]
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for i in StepList if absrelsteps[i]])
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move_v = min(speed, velocity_factor * self.move_d)
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self.junction_max = move_v**2
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# Find max acceleration factor
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accel_factor = min([steppers[i].max_step_accel / absrelsteps[i]
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for i in StepList if absrelsteps[i]])
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accel = min(self.kin.max_accel, accel_factor * self.move_d)
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self.junction_delta = 2.0 * self.move_d * accel
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def calc_junction(self, prev_move):
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# Find max start junction velocity using approximated
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# centripetal velocity as described at:
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# https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/
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if not prev_move.move_d or self.relsteps[2] or prev_move.relsteps[2]:
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return
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steppers = self.kin.steppers
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junction_cos_theta = -sum([
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self.relsteps[i] * prev_move.relsteps[i] * steppers[i].step_dist**2
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for i in range(2)]) / (self.move_d * prev_move.move_d)
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if junction_cos_theta > 0.999999:
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return
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junction_cos_theta = max(junction_cos_theta, -0.999999)
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sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta));
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R = self.kin.junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)
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accel = self.junction_delta / (2.0 * self.move_d)
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self.junction_start_max = min(
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accel * R, self.junction_max, prev_move.junction_max)
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def process(self, junction_start, junction_end):
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# Determine accel, cruise, and decel portions of the move
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junction_cruise = self.junction_max
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inv_junction_delta = 1. / self.junction_delta
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accel_r = (junction_cruise-junction_start) * inv_junction_delta
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decel_r = (junction_cruise-junction_end) * inv_junction_delta
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cruise_r = 1. - accel_r - decel_r
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if cruise_r < 0.:
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accel_r += 0.5 * cruise_r
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decel_r = 1.0 - accel_r
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cruise_r = 0.
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junction_cruise = junction_start + accel_r*self.junction_delta
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# Determine the move velocities and time spent in each portion
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start_v = math.sqrt(junction_start)
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cruise_v = math.sqrt(junction_cruise)
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end_v = math.sqrt(junction_end)
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inv_cruise_v = 1. / cruise_v
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inv_accel = 2.0 * self.move_d * inv_junction_delta
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accel_t = 2.0 * self.move_d * accel_r / (start_v+cruise_v)
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cruise_t = self.move_d * cruise_r * inv_cruise_v
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decel_t = 2.0 * self.move_d * decel_r / (end_v+cruise_v)
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#logging.debug("Move: %s v=%.2f/%.2f/%.2f mt=%.3f st=%.3f %.3f %.3f" % (
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# self.relsteps, start_v, cruise_v, end_v, move_t
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# , next_move_time, accel_r, cruise_r))
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# Calculate step times for the move
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next_move_time = self.kin.get_next_move_time()
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for i in StepList:
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steps = self.relsteps[i]
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if not steps:
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continue
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sdir = 0
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if steps < 0:
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sdir = 1
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steps = -steps
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clock_offset, clock_freq, so = self.kin.steppers[i].prep_move(
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sdir, next_move_time)
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step_dist = self.move_d / steps
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step_offset = 0.5
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# Acceleration steps
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#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
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accel_clock_offset = start_v * inv_accel * clock_freq
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accel_sqrt_offset = accel_clock_offset**2
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accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2
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accel_steps = accel_r * steps
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step_offset = so.step_sqrt(
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accel_steps, step_offset, clock_offset - accel_clock_offset
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, accel_sqrt_offset, accel_multiplier)
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clock_offset += accel_t * clock_freq
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# Cruising steps
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#t = pos/cruise_v
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cruise_multiplier = step_dist * inv_cruise_v * clock_freq
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cruise_steps = cruise_r * steps
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step_offset = so.step_factor(
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cruise_steps, step_offset, clock_offset, cruise_multiplier)
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clock_offset += cruise_t * clock_freq
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# Deceleration steps
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#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
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decel_clock_offset = cruise_v * inv_accel * clock_freq
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decel_sqrt_offset = decel_clock_offset**2
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decel_steps = decel_r * steps
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so.step_sqrt(
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decel_steps, step_offset, clock_offset + decel_clock_offset
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, decel_sqrt_offset, -accel_multiplier)
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self.kin.update_move_time(accel_t + cruise_t + decel_t)
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STALL_TIME = 0.100
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class CartKinematics:
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def __init__(self, printer, config):
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self.printer = printer
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self.reactor = printer.reactor
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steppers = ['stepper_x', 'stepper_y', 'stepper_z', 'stepper_e']
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self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
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for n in steppers]
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self.max_accel = min(s.max_step_accel*s.step_dist
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for s in self.steppers[:2]) # XXX
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dummy_move = Move(self, [0]*len(self.steppers), 0.)
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dummy_move.junction_max = 0.
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self.junction_deviation = config.getfloat('junction_deviation', 0.02)
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self.move_queue = lookahead.MoveQueue(dummy_move)
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self.pos = [0, 0, 0, 0]
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# Print time tracking
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self.buffer_time_high = config.getfloat('buffer_time_high', 5.000)
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self.buffer_time_low = config.getfloat('buffer_time_low', 0.150)
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self.move_flush_time = config.getfloat('move_flush_time', 0.050)
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self.motor_off_delay = config.getfloat('motor_off_time', 60.000)
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self.print_time = 0.
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self.print_time_stall = 0
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self.motor_off_time = self.reactor.NEVER
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self.flush_timer = self.reactor.register_timer(self.flush_handler)
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def build_config(self):
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for stepper in self.steppers:
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stepper.build_config()
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# Print time tracking
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def update_move_time(self, movetime):
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self.print_time += movetime
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flush_to_time = self.print_time - self.move_flush_time
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self.printer.mcu.flush_moves(flush_to_time)
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def get_next_move_time(self):
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if not self.print_time:
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self.print_time = self.buffer_time_low + STALL_TIME
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curtime = time.time()
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self.printer.mcu.set_print_start_time(curtime)
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self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
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return self.print_time
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def get_last_move_time(self):
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self.move_queue.flush()
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return self.get_next_move_time()
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def reset_motor_off_time(self, eventtime):
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self.motor_off_time = eventtime + self.motor_off_delay
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def reset_print_time(self):
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self.move_queue.flush()
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self.printer.mcu.flush_moves(self.print_time)
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self.print_time = 0.
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self.reset_motor_off_time(time.time())
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self.reactor.update_timer(self.flush_timer, self.motor_off_time)
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def check_busy(self, eventtime):
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if not self.print_time:
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# XXX - find better way to flush initial move_queue items
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if self.move_queue.queue:
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self.reactor.update_timer(self.flush_timer, eventtime + 0.100)
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return False
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buffer_time = self.printer.mcu.get_print_buffer_time(
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eventtime, self.print_time)
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return buffer_time > self.buffer_time_high
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def flush_handler(self, eventtime):
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if not self.print_time:
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self.move_queue.flush()
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if not self.print_time:
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if eventtime >= self.motor_off_time:
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self.motor_off()
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self.reset_print_time()
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self.motor_off_time = self.reactor.NEVER
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return self.motor_off_time
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print_time = self.print_time
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buffer_time = self.printer.mcu.get_print_buffer_time(
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eventtime, print_time)
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if buffer_time > self.buffer_time_low:
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return eventtime + buffer_time - self.buffer_time_low
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self.move_queue.flush()
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if print_time != self.print_time:
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self.print_time_stall += 1
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self.dwell(self.buffer_time_low + STALL_TIME)
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return self.reactor.NOW
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self.reset_print_time()
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return self.motor_off_time
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def stats(self, eventtime):
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buffer_time = 0.
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if self.print_time:
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buffer_time = self.printer.mcu.get_print_buffer_time(
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eventtime, self.print_time)
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return "print_time=%.3f buffer_time=%.3f print_time_stall=%d" % (
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self.print_time, buffer_time, self.print_time_stall)
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# Movement commands
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def get_position(self):
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return [self.pos[i] * self.steppers[i].step_dist
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for i in StepList]
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def set_position(self, newpos):
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self.pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5)
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for i in StepList]
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def move(self, newpos, speed, sloppy=False):
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# Round to closest step position
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newpos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5)
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for i in StepList]
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relsteps = [newpos[i] - self.pos[i] for i in StepList]
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self.pos = newpos
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if relsteps == [0]*len(newpos):
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# no move
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return
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#logging.debug("; dist %s @ %d\n" % (
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# [newpos[i]*self.steppers[i].step_dist for i in StepList], speed))
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# Create move and queue it
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move = Move(self, relsteps, speed)
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move.calc_junction(self.move_queue.prev_move())
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self.move_queue.add_move(move)
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def home(self, axis):
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# Each axis is homed independently and in order
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homing_state = homing.Homing(self, self.steppers)
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for a in axis:
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homing_state.plan_home(a)
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return homing_state
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def dwell(self, delay):
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self.get_last_move_time()
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self.update_move_time(delay)
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def motor_off(self):
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self.dwell(STALL_TIME)
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last_move_time = self.get_last_move_time()
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for stepper in self.steppers:
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stepper.motor_enable(last_move_time, 0)
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self.dwell(STALL_TIME)
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logging.debug('; Max time of %f' % (last_move_time,))
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