mirror of https://github.com/Desuuuu/klipper.git
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>
This commit is contained in:
Kevin O'Connor
parent
9ad8153d33
commit
5a1ec817d4
|
|
@ -13,6 +13,7 @@ class CartKinematics:
|
|||
steppers = ['stepper_x', 'stepper_y', 'stepper_z']
|
||||
self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
|
||||
for n in steppers]
|
||||
self.need_motor_enable = True
|
||||
self.limits = [(1.0, -1.0)] * 3
|
||||
self.stepper_pos = [0, 0, 0]
|
||||
def build_config(self):
|
||||
|
|
@ -64,6 +65,14 @@ class CartKinematics:
|
|||
self.limits = [(1.0, -1.0)] * 3
|
||||
for stepper in self.steppers:
|
||||
stepper.motor_enable(move_time, 0)
|
||||
self.need_motor_enable = True
|
||||
def check_motor_enable(self, move_time, move):
|
||||
need_motor_enable = False
|
||||
for i in StepList:
|
||||
if move.axes_d[i]:
|
||||
self.steppers[i].motor_enable(move_time, 1)
|
||||
need_motor_enable |= self.steppers[i].need_motor_enable
|
||||
self.need_motor_enable = need_motor_enable
|
||||
def query_endstops(self, move_time):
|
||||
return homing.QueryEndstops(["x", "y", "z"], self.steppers)
|
||||
def check_endstops(self, move):
|
||||
|
|
@ -94,12 +103,15 @@ class CartKinematics:
|
|||
for i in StepList if axes_d[i]])
|
||||
move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
|
||||
def move(self, move_time, move):
|
||||
if self.need_motor_enable:
|
||||
self.check_motor_enable(move_time, move)
|
||||
inv_accel = 1. / move.accel
|
||||
inv_cruise_v = 1. / move.cruise_v
|
||||
for i in StepList:
|
||||
if not move.axes_d[i]:
|
||||
continue
|
||||
mcu_time, so = self.steppers[i].prep_move(move_time)
|
||||
mcu_stepper = self.steppers[i].mcu_stepper
|
||||
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
|
||||
inv_step_dist = self.steppers[i].inv_step_dist
|
||||
steps = move.axes_d[i] * inv_step_dist
|
||||
move_step_d = move.move_d / abs(steps)
|
||||
|
|
@ -114,7 +126,7 @@ class CartKinematics:
|
|||
accel_time_offset = move.start_v * inv_accel
|
||||
accel_sqrt_offset = accel_time_offset**2
|
||||
accel_steps = move.accel_r * steps
|
||||
count = so.step_sqrt(
|
||||
count = mcu_stepper.step_sqrt(
|
||||
mcu_time - accel_time_offset, accel_steps, step_offset
|
||||
, accel_sqrt_offset, accel_multiplier)
|
||||
step_pos += count
|
||||
|
|
@ -125,7 +137,7 @@ class CartKinematics:
|
|||
#t = pos/cruise_v
|
||||
cruise_multiplier = move_step_d * inv_cruise_v
|
||||
cruise_steps = move.cruise_r * steps
|
||||
count = so.step_factor(
|
||||
count = mcu_stepper.step_factor(
|
||||
mcu_time, cruise_steps, step_offset, cruise_multiplier)
|
||||
step_pos += count
|
||||
step_offset += count - cruise_steps
|
||||
|
|
@ -136,7 +148,7 @@ class CartKinematics:
|
|||
decel_time_offset = move.cruise_v * inv_accel
|
||||
decel_sqrt_offset = decel_time_offset**2
|
||||
decel_steps = move.decel_r * steps
|
||||
count = so.step_sqrt(
|
||||
count = mcu_stepper.step_sqrt(
|
||||
mcu_time + decel_time_offset, decel_steps, step_offset
|
||||
, decel_sqrt_offset, -accel_multiplier)
|
||||
step_pos += count
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@ class DeltaKinematics:
|
|||
steppers = ['stepper_a', 'stepper_b', 'stepper_c']
|
||||
self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
|
||||
for n in steppers]
|
||||
self.need_motor_enable = True
|
||||
radius = config.getfloat('delta_radius')
|
||||
arm_length = config.getfloat('delta_arm_length')
|
||||
self.arm_length2 = arm_length**2
|
||||
|
|
@ -105,6 +106,11 @@ class DeltaKinematics:
|
|||
self.limit_xy2 = -1.
|
||||
for stepper in self.steppers:
|
||||
stepper.motor_enable(move_time, 0)
|
||||
self.need_motor_enable = True
|
||||
def check_motor_enable(self, move_time):
|
||||
for i in StepList:
|
||||
self.steppers[i].motor_enable(move_time, 1)
|
||||
self.need_motor_enable = False
|
||||
def query_endstops(self, move_time):
|
||||
return homing.QueryEndstops(["a", "b", "c"], self.steppers)
|
||||
def check_move(self, move):
|
||||
|
|
@ -120,6 +126,8 @@ class DeltaKinematics:
|
|||
def move_z(self, move_time, move):
|
||||
if not move.axes_d[2]:
|
||||
return
|
||||
if self.need_motor_enable:
|
||||
self.check_motor_enable(move_time)
|
||||
inv_accel = 1. / move.accel
|
||||
inv_cruise_v = 1. / move.cruise_v
|
||||
for i in StepList:
|
||||
|
|
@ -128,7 +136,8 @@ class DeltaKinematics:
|
|||
tower_d2 = towerx_d**2 + towery_d**2
|
||||
height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2]
|
||||
|
||||
mcu_time, so = self.steppers[i].prep_move(move_time)
|
||||
mcu_stepper = self.steppers[i].mcu_stepper
|
||||
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
|
||||
inv_step_dist = self.steppers[i].inv_step_dist
|
||||
step_dist = self.steppers[i].step_dist
|
||||
steps = move.axes_d[2] * inv_step_dist
|
||||
|
|
@ -143,7 +152,7 @@ class DeltaKinematics:
|
|||
accel_time_offset = move.start_v * inv_accel
|
||||
accel_sqrt_offset = accel_time_offset**2
|
||||
accel_steps = move.accel_r * steps
|
||||
count = so.step_sqrt(
|
||||
count = mcu_stepper.step_sqrt(
|
||||
mcu_time - accel_time_offset, accel_steps, step_offset
|
||||
, accel_sqrt_offset, accel_multiplier)
|
||||
step_pos += count
|
||||
|
|
@ -154,7 +163,7 @@ class DeltaKinematics:
|
|||
#t = pos/cruise_v
|
||||
cruise_multiplier = step_dist * inv_cruise_v
|
||||
cruise_steps = move.cruise_r * steps
|
||||
count = so.step_factor(
|
||||
count = mcu_stepper.step_factor(
|
||||
mcu_time, cruise_steps, step_offset, cruise_multiplier)
|
||||
step_pos += count
|
||||
step_offset += count - cruise_steps
|
||||
|
|
@ -165,7 +174,7 @@ class DeltaKinematics:
|
|||
decel_time_offset = move.cruise_v * inv_accel
|
||||
decel_sqrt_offset = decel_time_offset**2
|
||||
decel_steps = move.decel_r * steps
|
||||
count = so.step_sqrt(
|
||||
count = mcu_stepper.step_sqrt(
|
||||
mcu_time + decel_time_offset, decel_steps, step_offset
|
||||
, decel_sqrt_offset, -accel_multiplier)
|
||||
step_pos += count
|
||||
|
|
@ -175,6 +184,8 @@ class DeltaKinematics:
|
|||
if not axes_d[0] and not axes_d[1]:
|
||||
self.move_z(move_time, move)
|
||||
return
|
||||
if self.need_motor_enable:
|
||||
self.check_motor_enable(move_time)
|
||||
move_d = move.move_d
|
||||
movez_r = 0.
|
||||
inv_movexy_d = 1. / move_d
|
||||
|
|
@ -243,44 +254,45 @@ class DeltaKinematics:
|
|||
step_dist = self.steppers[i].step_dist
|
||||
step_pos = self.stepper_pos[i]
|
||||
height = step_pos*step_dist - closestz
|
||||
mcu_time, so = self.steppers[i].prep_move(move_time)
|
||||
mcu_stepper = self.steppers[i].mcu_stepper
|
||||
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
|
||||
if accel_up_d > 0.:
|
||||
count = so.step_delta_accel(
|
||||
count = mcu_stepper.step_delta_accel(
|
||||
mcu_time - accel_time_offset, closest_d - accel_up_d,
|
||||
step_dist, closest_d + accel_offset,
|
||||
closest_height2, height, movez_r, accel_multiplier)
|
||||
step_pos += count
|
||||
height += count * step_dist
|
||||
if cruise_up_d > 0.:
|
||||
count = so.step_delta_const(
|
||||
count = mcu_stepper.step_delta_const(
|
||||
mcu_time + accel_t, closest_d - cruise_up_d,
|
||||
step_dist, closest_d - accel_d,
|
||||
closest_height2, height, movez_r, inv_cruise_v)
|
||||
step_pos += count
|
||||
height += count * step_dist
|
||||
if decel_up_d > 0.:
|
||||
count = so.step_delta_accel(
|
||||
count = mcu_stepper.step_delta_accel(
|
||||
mcu_time + decel_time_offset, closest_d - decel_up_d,
|
||||
step_dist, closest_d - decel_offset,
|
||||
closest_height2, height, movez_r, -accel_multiplier)
|
||||
step_pos += count
|
||||
height += count * step_dist
|
||||
if accel_down_d > 0.:
|
||||
count = so.step_delta_accel(
|
||||
count = mcu_stepper.step_delta_accel(
|
||||
mcu_time - accel_time_offset, closest_d - accel_down_d,
|
||||
-step_dist, closest_d + accel_offset,
|
||||
closest_height2, height, movez_r, accel_multiplier)
|
||||
step_pos += count
|
||||
height += count * step_dist
|
||||
if cruise_down_d > 0.:
|
||||
count = so.step_delta_const(
|
||||
count = mcu_stepper.step_delta_const(
|
||||
mcu_time + accel_t, closest_d - cruise_down_d,
|
||||
-step_dist, closest_d - accel_d,
|
||||
closest_height2, height, movez_r, inv_cruise_v)
|
||||
step_pos += count
|
||||
height += count * step_dist
|
||||
if decel_down_d > 0.:
|
||||
count = so.step_delta_accel(
|
||||
count = mcu_stepper.step_delta_accel(
|
||||
mcu_time + decel_time_offset, closest_d - decel_down_d,
|
||||
-step_dist, closest_d - decel_offset,
|
||||
closest_height2, height, movez_r, -accel_multiplier)
|
||||
|
|
|
|||
|
|
@ -11,6 +11,7 @@ class PrinterExtruder:
|
|||
self.heater = heater.PrinterHeater(printer, config)
|
||||
self.stepper = stepper.PrinterStepper(printer, config)
|
||||
self.pressure_advance = config.getfloat('pressure_advance', 0.)
|
||||
self.need_motor_enable = True
|
||||
self.stepper_pos = 0
|
||||
self.extrude_pos = 0.
|
||||
def build_config(self):
|
||||
|
|
@ -19,6 +20,7 @@ class PrinterExtruder:
|
|||
self.stepper.build_config()
|
||||
def motor_off(self, move_time):
|
||||
self.stepper.motor_enable(move_time, 0)
|
||||
self.need_motor_enable = True
|
||||
def check_move(self, move):
|
||||
if not self.heater.can_extrude:
|
||||
raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
|
||||
|
|
@ -28,6 +30,9 @@ class PrinterExtruder:
|
|||
# Extrude only move - limit accel and velocity
|
||||
move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
|
||||
def move(self, move_time, move):
|
||||
if self.need_motor_enable:
|
||||
self.stepper.motor_enable(move_time, 1)
|
||||
self.need_motor_enable = False
|
||||
axis_d = move.axes_d[3]
|
||||
extrude_r = axis_d / move.move_d
|
||||
inv_accel = 1. / (move.accel * extrude_r)
|
||||
|
|
@ -92,7 +97,8 @@ class PrinterExtruder:
|
|||
stepper_pos = self.stepper_pos
|
||||
inv_step_dist = self.stepper.inv_step_dist
|
||||
step_dist = self.stepper.step_dist
|
||||
mcu_time, so = self.stepper.prep_move(move_time)
|
||||
mcu_stepper = self.stepper.mcu_stepper
|
||||
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
|
||||
step_offset = stepper_pos - start_pos * inv_step_dist
|
||||
|
||||
# Acceleration steps
|
||||
|
|
@ -102,7 +108,7 @@ class PrinterExtruder:
|
|||
accel_time_offset = start_v * inv_accel
|
||||
accel_sqrt_offset = accel_time_offset**2
|
||||
accel_steps = accel_d * inv_step_dist
|
||||
count = so.step_sqrt(
|
||||
count = mcu_stepper.step_sqrt(
|
||||
mcu_time - accel_time_offset, accel_steps, step_offset
|
||||
, accel_sqrt_offset, accel_multiplier)
|
||||
stepper_pos += count
|
||||
|
|
@ -113,7 +119,7 @@ class PrinterExtruder:
|
|||
#t = pos/cruise_v
|
||||
cruise_multiplier = step_dist / cruise_v
|
||||
cruise_steps = cruise_d * inv_step_dist
|
||||
count = so.step_factor(
|
||||
count = mcu_stepper.step_factor(
|
||||
mcu_time, cruise_steps, step_offset, cruise_multiplier)
|
||||
stepper_pos += count
|
||||
step_offset += count - cruise_steps
|
||||
|
|
@ -124,7 +130,7 @@ class PrinterExtruder:
|
|||
decel_time_offset = decel_v * inv_accel
|
||||
decel_sqrt_offset = decel_time_offset**2
|
||||
decel_steps = decel_d * inv_step_dist
|
||||
count = so.step_sqrt(
|
||||
count = mcu_stepper.step_sqrt(
|
||||
mcu_time + decel_time_offset, decel_steps, step_offset
|
||||
, decel_sqrt_offset, -accel_multiplier)
|
||||
stepper_pos += count
|
||||
|
|
@ -136,7 +142,7 @@ class PrinterExtruder:
|
|||
accel_time_offset = retract_v * inv_accel
|
||||
accel_sqrt_offset = accel_time_offset**2
|
||||
accel_steps = -retract_d * inv_step_dist
|
||||
count = so.step_sqrt(
|
||||
count = mcu_stepper.step_sqrt(
|
||||
mcu_time - accel_time_offset, accel_steps, step_offset
|
||||
, accel_sqrt_offset, accel_multiplier)
|
||||
stepper_pos += count
|
||||
|
|
|
|||
|
|
@ -64,18 +64,14 @@ class PrinterStepper:
|
|||
if endstop_pin is not None:
|
||||
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
|
||||
def motor_enable(self, move_time, enable=0):
|
||||
if enable and self.need_motor_enable:
|
||||
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
|
||||
self.mcu_stepper.reset_step_clock(mcu_time)
|
||||
if (self.mcu_enable is not None
|
||||
and self.mcu_enable.get_last_setting() != enable):
|
||||
mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
|
||||
self.mcu_enable.set_digital(mcu_time, enable)
|
||||
self.need_motor_enable = True
|
||||
def prep_move(self, move_time):
|
||||
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
|
||||
if self.need_motor_enable:
|
||||
self.mcu_stepper.reset_step_clock(mcu_time)
|
||||
self.motor_enable(move_time, 1)
|
||||
self.need_motor_enable = False
|
||||
return (mcu_time, self.mcu_stepper)
|
||||
self.need_motor_enable = not enable
|
||||
def enable_endstop_checking(self, move_time, step_time):
|
||||
mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
|
||||
self.mcu_endstop.home(mcu_time, step_time)
|
||||
|
|
@ -86,7 +82,7 @@ class PrinterStepper:
|
|||
self.mcu_endstop.query_endstop()
|
||||
return self.mcu_endstop
|
||||
def get_homed_offset(self):
|
||||
if not self.homing_stepper_phases:
|
||||
if not self.homing_stepper_phases or self.need_motor_enable:
|
||||
return 0
|
||||
pos = self.mcu_endstop.get_last_position()
|
||||
pos %= self.homing_stepper_phases
|
||||
|
|
|
|||
Loading…
Reference in New Issue