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toolhead: Specify maximum acceleration and velocity in toolhead class 

Change the config file so the maximum accel and velocity are specified
in the "printer" section instead of the individual "stepper" sections.
The underlying code limits the velocity and accel of the toolhead
relative to the print object, so it makes sense to configure the
system that was as well.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-01 15:29:26 -05:00
parent fcaf359e89
commit c49d3fdb17
8 changed files with 52 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
config/example-delta.cfg
View File

@ -16,8 +16,6 @@ step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .01
max_velocity: 200
max_accel: 3000
endstop_pin: ^ar2
homing_speed: 50.0
position_endstop: 297.05
@ -30,8 +28,6 @@ step_pin: ar60
dir_pin: ar61
enable_pin: !ar56
step_distance: .01
max_velocity: 200
max_accel: 3000
endstop_pin: ^ar15
position_endstop: 297.05
@ -42,8 +38,6 @@ step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .01
max_velocity: 200
max_accel: 3000
endstop_pin: ^ar19
position_endstop: 297.05
@ -85,6 +79,8 @@ pin_map: arduino
[printer]
kinematics: delta
# This option must be "delta" for linear delta printers
max_velocity: 200
max_accel: 3000
delta_arm_length: 333.0
# Length (in mm) of the diagonal rods that connect the linear axes
# to the print head

27
config/example.cfg
View File

@ -26,10 +26,6 @@ enable_pin: !ar25
# Enable pin (default is enable high; use ! to indicate enable low)
step_distance: .0225
# Distance in mm that each step causes the axis to travel
max_velocity: 500
# Maximum velocity (in mm/s) of the stepper
max_accel: 3000
# Maximum acceleration (in mm/s^2) of the stepper
endstop_pin: ^ar0
# Endstop switch detection pin
homing_speed: 50.0
@ -75,8 +71,6 @@ step_pin: ar27
dir_pin: ar26
enable_pin: !ar25
step_distance: .0225
max_velocity: 500
max_accel: 3000
endstop_pin: ^ar1
position_min: -0.25
position_endstop: 0
@ -90,8 +84,6 @@ step_pin: ar23
dir_pin: !ar22
enable_pin: !ar25
step_distance: .005
max_velocity: 250
max_accel: 30
endstop_pin: ^ar2
position_min: 0.1
position_endstop: 0.5
@ -108,7 +100,12 @@ dir_pin: ar18
enable_pin: !ar25
step_distance: .004242
max_velocity: 200000
# Maximum velocity (in mm/s) of the extruder motor for extrude only
# moves.
max_accel: 3000
# Maximum acceleration (in mm/s^2) of the extruder motor for extrude
# only moves.
#
# The remaining variables describe the extruder heater
pressure_advance: 0.0
# The amount of raw filament to push into the extruder during
@ -191,6 +188,20 @@ custom:
[printer]
kinematics: cartesian
# This option must be "cartesian" for cartesian printers
max_velocity: 500
# Maximum velocity (in mm/s) of the toolhead (relative to the
# print)
max_accel: 3000
# Maximum acceleration (in mm/s^2) of the toolhead (relative to the
# print)
max_z_velocity: 250
# For cartesian printers this sets the maximum velocity (in mm/s) of
# movement along the z axis. This setting can be used to restrict
# the maximum speed of the z stepper motor on cartesian printers.
max_z_accel: 30
# For cartesian printers this sets the maximum acceleration (in
# mm/s^2) of movement along the z axis. It limits the acceleration
# of the z stepper motor on cartesian printers.
motor_off_time: 60
# Time (in seconds) of idle time before the printer will try to
# disable active motors.

10
config/makergear-m2-2012.cfg
View File

@ -8,8 +8,6 @@ step_pin: PC0
dir_pin: !PL1
enable_pin: !PA7
step_distance: .0225
max_velocity: 500
max_accel: 3000
endstop_pin: ^!PB6
homing_speed: 50.0
homing_stepper_phases: 32
@ -23,8 +21,6 @@ step_pin: PC1
dir_pin: PL0
enable_pin: !PA6
step_distance: .0225
max_velocity: 500
max_accel: 3000
endstop_pin: ^!PB5
homing_speed: 50.0
homing_stepper_phases: 32
@ -38,8 +34,6 @@ step_pin: PC2
dir_pin: !PL2
enable_pin: !PA5
step_distance: .005
max_velocity: 250
max_accel: 30
endstop_pin: ^!PB4
homing_speed: 4.0
homing_retract_dist: 2.0
@ -105,4 +99,8 @@ custom:
[printer]
kinematics: cartesian
max_velocity: 500
max_accel: 3000
max_z_velocity: 250
max_z_accel: 30
motor_off_time: 600

22
klippy/cartesian.py
View File

@ -13,21 +13,21 @@ class CartKinematics:
self.steppers = [stepper.PrinterStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
self.max_z_accel = config.getfloat('max_z_accel', 9999999.9)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
def set_max_jerk(self, max_xy_halt_velocity, max_accel):
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(0., self.max_z_accel)
def build_config(self):
for stepper in self.steppers[:2]:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
for stepper in self.steppers:
stepper.build_config()
def set_position(self, newpos):
for i in StepList:
s = self.steppers[i]
s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
def get_max_speed(self):
max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
max_xy_accel = min(s.max_accel for s in self.steppers[:2])
return max_xy_speed, max_xy_accel
def get_homed_position(self, homing_state):
pos = [None]*3
for axis in homing_state.get_axes():
@ -99,13 +99,9 @@ class CartKinematics:
return
# Move with Z - update velocity and accel for slower Z axis
self.check_endstops(move)
axes_d = move.axes_d
move_d = move.move_d
velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
for i in StepList if axes_d[i]])
accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
for i in StepList if axes_d[i]])
move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, move_time, move):
if self.need_motor_enable:
self.check_motor_enable(move_time, move)

11
klippy/delta.py
View File

@ -28,17 +28,14 @@ class DeltaKinematics:
(cos(210.)*radius, sin(210.)*radius),
(cos(330.)*radius, sin(330.)*radius),
(cos(90.)*radius, sin(90.)*radius)]
def build_config(self):
def set_max_jerk(self, max_xy_halt_velocity, max_accel):
# XXX - this sets conservative values
for stepper in self.steppers:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
def build_config(self):
for stepper in self.steppers:
stepper.build_config()
self.set_position([0., 0., 0.])
def get_max_speed(self):
# XXX - this returns conservative values
max_xy_speed = min(s.max_velocity for s in self.steppers)
max_xy_accel = min(s.max_accel for s in self.steppers)
return max_xy_speed, max_xy_accel
def cartesian_to_actuator(self, coord):
return [int((math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2

6
klippy/extruder.py
View File

@ -11,11 +11,13 @@ class PrinterExtruder:
self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
self.pressure_advance = config.getfloat('pressure_advance', 0.)
self.max_e_velocity = config.getfloat('max_velocity')
self.max_e_accel = config.getfloat('max_accel')
self.need_motor_enable = True
self.extrude_pos = 0.
def build_config(self):
self.heater.build_config()
self.stepper.set_max_jerk(9999999.9)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.stepper.build_config()
def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0)
@ -28,7 +30,7 @@ class PrinterExtruder:
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)
move.limit_speed(self.max_e_velocity, self.max_e_accel)
def move(self, move_time, move):
if self.need_motor_enable:
self.stepper.motor_enable(move_time, 1)

17
klippy/stepper.py
View File

@ -15,9 +15,7 @@ class PrinterStepper:
self.step_dist = config.getfloat('step_distance')
self.inv_step_dist = 1. / self.step_dist
self.max_velocity = config.getfloat('max_velocity')
self.max_accel = config.getfloat('max_accel')
self.max_jerk = 0.
self.min_stop_interval = 0.
self.homing_speed = config.getfloat('homing_speed', 5.0)
self.homing_positive_dir = config.getboolean(
@ -47,17 +45,16 @@ class PrinterStepper:
self.position_max = config.getfloat('position_max', 0.)
self.need_motor_enable = True
def set_max_jerk(self, max_jerk):
self.max_jerk = max_jerk
def set_max_jerk(self, max_halt_velocity, max_accel):
jc = max_halt_velocity / max_accel
inv_max_step_accel = self.step_dist / max_accel
self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2))
def build_config(self):
max_error = self.config.getfloat('max_error', 0.000050)
step_pin = self.config.get('step_pin')
dir_pin = self.config.get('dir_pin')
jc = self.max_jerk / self.max_accel
inv_max_step_accel = self.step_dist / self.max_accel
min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2)) - max_error
min_stop_interval = max(0., min_stop_interval)
min_stop_interval = max(0., self.min_stop_interval - max_error)
mcu = self.printer.mcu
self.mcu_stepper = mcu.create_stepper(
step_pin, dir_pin, min_stop_interval, max_error)

4
klippy/toolhead.py
View File

@ -162,7 +162,8 @@ class ToolHead:
kintypes = {'cartesian': cartesian.CartKinematics,
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(printer, config)
self.max_speed, self.max_accel = self.kin.get_max_speed()
self.max_speed = config.getfloat('max_velocity')
self.max_accel = config.getfloat('max_accel')
self.junction_deviation = config.getfloat('junction_deviation', 0.02)
self.move_queue = MoveQueue()
self.commanded_pos = [0., 0., 0., 0.]
@ -176,6 +177,7 @@ class ToolHead:
self.motor_off_time = self.reactor.NEVER
self.flush_timer = self.reactor.register_timer(self.flush_handler)
def build_config(self):
self.kin.set_max_jerk(0.005 * self.max_accel, self.max_accel) # XXX
self.kin.build_config()
# Print time tracking
def update_move_time(self, movetime):