mirror of https://github.com/Desuuuu/klipper.git
extruder: Move extruder specific lookahead into extruder class
Instead of calculating min/max_corner_v in the toolhead class, calculate it in the extruder class. This keeps the extruder specific code together. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
19ed67331d
commit
1bb7a22115
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@ -6,6 +6,8 @@
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import math, logging
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import math, logging
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import stepper, heater, homing
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import stepper, heater, homing
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EXTRUDE_DIFF_IGNORE = 1.02
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class PrinterExtruder:
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class PrinterExtruder:
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def __init__(self, printer, config):
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def __init__(self, printer, config):
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self.config = config
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self.config = config
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@ -35,6 +37,7 @@ class PrinterExtruder:
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self.stepper.motor_enable(move_time, 0)
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self.stepper.motor_enable(move_time, 0)
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self.need_motor_enable = True
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self.need_motor_enable = True
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def check_move(self, move):
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def check_move(self, move):
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move.extrude_r = move.axes_d[3] / move.move_d
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if not self.heater.can_extrude:
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if not self.heater.can_extrude:
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raise homing.EndstopMoveError(
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raise homing.EndstopMoveError(
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move.end_pos, "Extrude below minimum temp")
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move.end_pos, "Extrude below minimum temp")
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@ -48,6 +51,39 @@ class PrinterExtruder:
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logging.debug("%s vs %s" % (move.extrude_r, self.max_extrude_ratio))
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logging.debug("%s vs %s" % (move.extrude_r, self.max_extrude_ratio))
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raise homing.EndstopMoveError(
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raise homing.EndstopMoveError(
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move.end_pos, "Move exceeds maximum extrusion cross section")
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move.end_pos, "Move exceeds maximum extrusion cross section")
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def calc_junction(self, prev_move, move):
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if move.axes_d[3] or prev_move.axes_d[3]:
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if (not move.axes_d[3] or not prev_move.axes_d[3]
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or move.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
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or prev_move.extrude_r > move.extrude_r * EXTRUDE_DIFF_IGNORE):
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# Extrude ratio between moves is too different
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return 0.
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move.extrude_r = prev_move.extrude_r
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return move.max_cruise_v2
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def lookahead(self, move_info, orig_flush_count, lazy):
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if not self.pressure_advance:
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return orig_flush_count
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min_corner_v2 = max_corner_v2 = 0.
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flush_count = len(move_info)
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for i in range(flush_count-1, -1, -1):
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move, start_v2, cruise_v2, end_v2 = move_info[i]
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reachable_start_v2 = end_v2 + move.delta_v2
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# Calculate min/max_corner_v2 - the speed the head will
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# slow to due to junction cornering and the maximum speed
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# the head will reach immediately afterwards.
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move.extruder_min_corner_v2 = min_corner_v2
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move.extruder_max_corner_v2 = max_corner_v2
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if reachable_start_v2 > start_v2:
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min_corner_v2 = start_v2
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if (start_v2 + move.delta_v2 > end_v2
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or end_v2 >= move_info[i+1][2]):
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if lazy and max_corner_v2:
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flush_count = i
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lazy = False
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max_corner_v2 = cruise_v2
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if lazy:
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return 0
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return min(flush_count, orig_flush_count)
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def move(self, move_time, move):
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def move(self, move_time, move):
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if self.need_motor_enable:
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if self.need_motor_enable:
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self.stepper.motor_enable(move_time, 1)
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self.stepper.motor_enable(move_time, 1)
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@ -83,12 +119,14 @@ class PrinterExtruder:
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prev_pressure_d += extra_accel_d
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prev_pressure_d += extra_accel_d
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# Update decel and retract parameters when decelerating
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# Update decel and retract parameters when decelerating
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if decel_t:
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if decel_t:
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if move.min_corner_v:
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if move.extruder_min_corner_v2:
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npd = move.max_corner_v*move_extrude_r*self.pressure_advance
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min_corner_v = math.sqrt(move.extruder_min_corner_v2)
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max_corner_v = math.sqrt(move.extruder_max_corner_v2)
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npd = max_corner_v*move_extrude_r*self.pressure_advance
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extra_decel_d = prev_pressure_d - npd
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extra_decel_d = prev_pressure_d - npd
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if move.end_v > move.min_corner_v:
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if move.end_v > min_corner_v:
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extra_decel_d *= ((move.cruise_v - move.end_v)
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extra_decel_d *= ((move.cruise_v - move.end_v)
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/ (move.cruise_v - move.min_corner_v))
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/ (move.cruise_v - min_corner_v))
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else:
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else:
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npd = move.end_v * move_extrude_r * self.pressure_advance
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npd = move.end_v * move_extrude_r * self.pressure_advance
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extra_decel_d = prev_pressure_d - npd
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extra_decel_d = prev_pressure_d - npd
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@ -163,3 +201,17 @@ class PrinterExtruder:
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, accel_sqrt_offset, accel_multiplier)
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, accel_sqrt_offset, accel_multiplier)
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self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
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self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
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# Dummy extruder class used when a printer has no extruder at all
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class DummyExtruder:
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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pass
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def motor_off(self, move_time):
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pass
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def check_move(self, move):
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raise homing.EndstopMoveError(
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move.end_pos, "Extrude when no extruder present")
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def calc_junction(self, prev_move, move):
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return move.max_cruise_v2
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def lookahead(self, moves, flush_count, lazy):
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return flush_count
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@ -4,9 +4,7 @@
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#
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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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# 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 math, logging, time
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import cartesian, delta
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import cartesian, delta, extruder
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EXTRUDE_DIFF_IGNORE = 1.02
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# Common suffixes: _d is distance (in mm), _v is velocity (in
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# Common suffixes: _d is distance (in mm), _v is velocity (in
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# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
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# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
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@ -36,7 +34,6 @@ class Move:
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return
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return
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self.do_calc_junction = self.is_kinematic_move = False
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self.do_calc_junction = self.is_kinematic_move = False
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self.move_d = move_d
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self.move_d = move_d
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self.extrude_r = axes_d[3] / move_d
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# Junction speeds are tracked in velocity squared. The
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# Junction speeds are tracked in velocity squared. The
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# delta_v2 is the maximum amount of this squared-velocity that
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# delta_v2 is the maximum amount of this squared-velocity that
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# can change in this move.
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# can change in this move.
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@ -52,11 +49,8 @@ class Move:
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def calc_junction(self, prev_move):
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def calc_junction(self, prev_move):
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if not self.do_calc_junction or not prev_move.do_calc_junction:
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if not self.do_calc_junction or not prev_move.do_calc_junction:
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return
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return
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if (self.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
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# Allow extruder to calculate its maximum junction
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or prev_move.extrude_r > self.extrude_r * EXTRUDE_DIFF_IGNORE):
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extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
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# Extrude ratio between moves is too different
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return
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self.extrude_r = prev_move.extrude_r
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# Find max velocity using approximated centripetal velocity as
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# Find max velocity using approximated centripetal velocity as
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# described at:
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# described at:
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# https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/
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# https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/
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@ -70,8 +64,8 @@ class Move:
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R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)
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R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)
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self.max_start_v2 = min(
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self.max_start_v2 = min(
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R * self.accel, self.max_cruise_v2, prev_move.max_cruise_v2
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R * self.accel, self.max_cruise_v2, prev_move.max_cruise_v2
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, prev_move.max_start_v2 + prev_move.delta_v2)
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, extruder_v2, prev_move.max_start_v2 + prev_move.delta_v2)
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def process(self, start_v2, cruise_v2, end_v2, min_corner_v2, max_corner_v2):
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def set_junction(self, start_v2, cruise_v2, end_v2):
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# Determine accel, cruise, and decel portions of the move distance
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# Determine accel, cruise, and decel portions of the move distance
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inv_delta_v2 = 1. / self.delta_v2
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inv_delta_v2 = 1. / self.delta_v2
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self.accel_r = accel_r = (cruise_v2 - start_v2) * inv_delta_v2
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self.accel_r = accel_r = (cruise_v2 - start_v2) * inv_delta_v2
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@ -81,66 +75,64 @@ class Move:
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self.start_v = start_v = math.sqrt(start_v2)
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self.start_v = start_v = math.sqrt(start_v2)
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self.cruise_v = cruise_v = math.sqrt(cruise_v2)
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self.cruise_v = cruise_v = math.sqrt(cruise_v2)
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self.end_v = end_v = math.sqrt(end_v2)
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self.end_v = end_v = math.sqrt(end_v2)
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self.min_corner_v = math.sqrt(min_corner_v2)
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self.max_corner_v = math.sqrt(max_corner_v2)
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# Determine time spent in each portion of move (time is the
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# Determine time spent in each portion of move (time is the
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# distance divided by average velocity)
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# distance divided by average velocity)
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accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
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self.accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
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cruise_t = cruise_r * self.move_d / cruise_v
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self.cruise_t = cruise_r * self.move_d / cruise_v
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decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
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self.decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
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self.accel_t, self.cruise_t, self.decel_t = accel_t, cruise_t, decel_t
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def move(self):
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# Generate step times for the move
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# Generate step times for the move
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next_move_time = self.toolhead.get_next_move_time()
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next_move_time = self.toolhead.get_next_move_time()
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if self.is_kinematic_move:
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if self.is_kinematic_move:
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self.toolhead.kin.move(next_move_time, self)
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self.toolhead.kin.move(next_move_time, self)
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if self.axes_d[3]:
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if self.axes_d[3]:
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self.toolhead.extruder.move(next_move_time, self)
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self.toolhead.extruder.move(next_move_time, self)
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self.toolhead.update_move_time(accel_t + cruise_t + decel_t)
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self.toolhead.update_move_time(
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self.accel_t + self.cruise_t + self.decel_t)
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# Class to track a list of pending move requests and to facilitate
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# Class to track a list of pending move requests and to facilitate
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# "look-ahead" across moves to reduce acceleration between moves.
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# "look-ahead" across moves to reduce acceleration between moves.
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class MoveQueue:
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class MoveQueue:
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def __init__(self):
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def __init__(self, extruder_lookahead):
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self.extruder_lookahead = extruder_lookahead
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self.queue = []
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self.queue = []
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self.junction_flush = 0.
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self.junction_flush = 0.
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def reset(self):
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def reset(self):
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del self.queue[:]
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del self.queue[:]
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def flush(self, lazy=False):
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def flush(self, lazy=False):
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flush_count = len(self.queue)
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update_flush_count = lazy
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queue = self.queue
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flush_count = len(queue)
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move_info = [None] * flush_count
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move_info = [None] * flush_count
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# Traverse queue from last to first move and determine maximum
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# Traverse queue from last to first move and determine maximum
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# junction speed assuming the robot comes to a complete stop
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# junction speed assuming the robot comes to a complete stop
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# after the last move.
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# after the last move.
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next_end_v2 = min_corner_v2 = max_corner_v2 = 0.
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next_end_v2 = 0.
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for i in range(flush_count-1, -1, -1):
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for i in range(flush_count-1, -1, -1):
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move = self.queue[i]
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move = queue[i]
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reachable_start_v2 = next_end_v2 + move.delta_v2
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reachable_start_v2 = next_end_v2 + move.delta_v2
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start_v2 = min(move.max_start_v2, reachable_start_v2)
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start_v2 = min(move.max_start_v2, reachable_start_v2)
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cruise_v2 = min((start_v2 + reachable_start_v2) * .5
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cruise_v2 = min((start_v2 + reachable_start_v2) * .5
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, move.max_cruise_v2)
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, move.max_cruise_v2)
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move_info[i] = (start_v2, cruise_v2, next_end_v2
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move_info[i] = (move, start_v2, cruise_v2, next_end_v2)
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, min_corner_v2, max_corner_v2)
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if update_flush_count and reachable_start_v2 > start_v2:
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# Calculate min/max_corner_v2 - the speed the head will
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flush_count = i
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# slow to due to junction cornering and the maximum speed
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update_flush_count = False
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# the head will reach immediately afterwards.
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if reachable_start_v2 > start_v2:
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min_corner_v2 = start_v2
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if (start_v2 + move.delta_v2 > next_end_v2
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or next_end_v2 >= move_info[i+1][1]):
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if lazy and max_corner_v2:
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flush_count = i
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lazy = False
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max_corner_v2 = cruise_v2
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next_end_v2 = start_v2
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next_end_v2 = start_v2
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if lazy:
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if update_flush_count:
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flush_count = 0
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flush_count = 0
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# Traverse queue in forward direction propagating final values
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for move, start_v2, cruise_v2, end_v2 in move_info[:flush_count]:
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move.set_junction(start_v2, cruise_v2, end_v2)
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# Allow extruder to do its lookahead
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flush_count = self.extruder_lookahead(move_info, flush_count, lazy)
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# Generate step times for all moves ready to be flushed
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# Generate step times for all moves ready to be flushed
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for i in range(flush_count):
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for move in queue[:flush_count]:
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self.queue[i].process(*move_info[i])
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move.move()
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# Remove processed moves from the queue
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# Remove processed moves from the queue
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del self.queue[:flush_count]
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del queue[:flush_count]
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if self.queue:
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if queue:
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self.junction_flush = 2. * self.queue[-1].max_cruise_v2
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self.junction_flush = 2. * queue[-1].max_cruise_v2
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def add_move(self, move):
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def add_move(self, move):
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self.queue.append(move)
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self.queue.append(move)
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if len(self.queue) == 1:
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if len(self.queue) == 1:
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@ -162,13 +154,15 @@ class ToolHead:
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self.printer = printer
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self.printer = printer
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self.reactor = printer.reactor
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self.reactor = printer.reactor
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self.extruder = printer.objects.get('extruder')
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self.extruder = printer.objects.get('extruder')
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if self.extruder is None:
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self.extruder = extruder.DummyExtruder()
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kintypes = {'cartesian': cartesian.CartKinematics,
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kintypes = {'cartesian': cartesian.CartKinematics,
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'delta': delta.DeltaKinematics}
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'delta': delta.DeltaKinematics}
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self.kin = config.getchoice('kinematics', kintypes)(printer, config)
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self.kin = config.getchoice('kinematics', kintypes)(printer, config)
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self.max_speed = config.getfloat('max_velocity')
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self.max_speed = config.getfloat('max_velocity')
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self.max_accel = config.getfloat('max_accel')
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self.max_accel = config.getfloat('max_accel')
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self.junction_deviation = config.getfloat('junction_deviation', 0.02)
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self.junction_deviation = config.getfloat('junction_deviation', 0.02)
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self.move_queue = MoveQueue()
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self.move_queue = MoveQueue(self.extruder.lookahead)
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self.commanded_pos = [0., 0., 0., 0.]
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self.commanded_pos = [0., 0., 0., 0.]
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# Print time tracking
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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_high = config.getfloat('buffer_time_high', 5.000)
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@ -183,8 +177,7 @@ class ToolHead:
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def build_config(self):
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def build_config(self):
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xy_halt = 0.005 * self.max_accel # XXX
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xy_halt = 0.005 * self.max_accel # XXX
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self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
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self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
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if self.extruder is not None:
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self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
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self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
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self.kin.build_config()
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self.kin.build_config()
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# Print time tracking
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# Print time tracking
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def update_move_time(self, movetime):
|
def update_move_time(self, movetime):
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||||||
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Loading…
Reference in New Issue