mirror of https://github.com/Desuuuu/klipper.git
klippy: Eliminate high-level build_config phase
Now that the mcu objects can be created prior to connecting to the mcu, it is no longer necessary to separate the init and build_config phases in the high-level code. Move the mcu objection creation from the build_config phase to the init phase and eliminate the build_config phase. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
92649332ce
commit
d21b9280f0
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@ -21,9 +21,6 @@ class CartKinematics:
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self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[2].set_max_jerk(0., self.max_z_accel)
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self.steppers[2].set_max_jerk(0., self.max_z_accel)
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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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def set_position(self, newpos):
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def set_position(self, newpos):
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for i in StepList:
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for i in StepList:
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s = self.steppers[i]
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s = self.steppers[i]
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@ -50,6 +50,7 @@ class DeltaKinematics:
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"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
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"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
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% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
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% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
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math.sqrt(self.very_slow_xy2)))
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math.sqrt(self.very_slow_xy2)))
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self.set_position([0., 0., 0.])
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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self.max_velocity = max_velocity
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self.max_velocity = max_velocity
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max_z_velocity = self.config.getfloat('max_z_velocity', max_velocity)
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max_z_velocity = self.config.getfloat('max_z_velocity', max_velocity)
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@ -57,10 +58,6 @@ class DeltaKinematics:
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self.max_accel = max_accel
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self.max_accel = max_accel
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for stepper in self.steppers:
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for stepper in self.steppers:
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stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
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stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
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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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self.set_position([0., 0., 0.])
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def _cartesian_to_actuator(self, coord):
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def _cartesian_to_actuator(self, coord):
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return [int((math.sqrt(self.arm_length2
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return [int((math.sqrt(self.arm_length2
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- (self.towers[i][0] - coord[0])**2
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- (self.towers[i][0] - coord[0])**2
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@ -33,10 +33,7 @@ class PrinterExtruder:
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'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio)
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'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio)
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self.max_e_accel = self.config.getfloat(
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self.max_e_accel = self.config.getfloat(
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'max_extrude_only_accel', max_accel * self.max_extrude_ratio)
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'max_extrude_only_accel', max_accel * self.max_extrude_ratio)
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def build_config(self):
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self.heater.build_config()
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self.stepper.set_max_jerk(9999999.9, 9999999.9)
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self.stepper.set_max_jerk(9999999.9, 9999999.9)
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self.stepper.build_config()
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def motor_off(self, move_time):
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def motor_off(self, move_time):
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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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@ -9,17 +9,12 @@ PWM_CYCLE_TIME = 0.010
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class PrinterFan:
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class PrinterFan:
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def __init__(self, printer, config):
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def __init__(self, printer, config):
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self.printer = printer
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self.config = config
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self.mcu_fan = None
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self.last_fan_value = 0.
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self.last_fan_value = 0.
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self.last_fan_time = 0.
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self.last_fan_time = 0.
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self.kick_start_time = config.getfloat('kick_start_time', 0.1)
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self.kick_start_time = config.getfloat('kick_start_time', 0.1)
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def build_config(self):
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pin = config.get('pin')
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pin = self.config.get('pin')
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hard_pwm = config.getint('hard_pwm', 0)
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hard_pwm = self.config.getint('hard_pwm', 0)
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self.mcu_fan = printer.mcu.create_pwm(pin, PWM_CYCLE_TIME, hard_pwm, 0.)
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self.mcu_fan = self.printer.mcu.create_pwm(
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pin, PWM_CYCLE_TIME, hard_pwm, 0.)
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# External commands
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# External commands
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def set_speed(self, print_time, value):
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def set_speed(self, print_time, value):
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value = max(0., min(1., value))
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value = max(0., min(1., value))
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@ -28,44 +28,39 @@ class error(Exception):
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class PrinterHeater:
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class PrinterHeater:
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error = error
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error = error
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def __init__(self, printer, config):
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def __init__(self, printer, config):
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self.printer = printer
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self.name = config.section
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self.config = config
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self.mcu_pwm = self.mcu_adc = None
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self.thermistor_c = config.getchoice('thermistor_type', Thermistors)
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self.thermistor_c = config.getchoice('thermistor_type', Thermistors)
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self.pullup_r = config.getfloat('pullup_resistor', 4700.)
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self.pullup_r = config.getfloat('pullup_resistor', 4700.)
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self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.)
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self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.)
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self.min_temp = self.config.getfloat('min_temp')
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self.min_temp = config.getfloat('min_temp')
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self.max_temp = self.config.getfloat('max_temp')
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self.max_temp = config.getfloat('max_temp')
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self.max_power = max(0., min(1., self.config.getfloat('max_power', 1.)))
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self.max_power = max(0., min(1., config.getfloat('max_power', 1.)))
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self.can_extrude = (self.min_extrude_temp <= 0.)
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self.can_extrude = (self.min_extrude_temp <= 0.
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or printer.mcu.is_fileoutput())
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self.lock = threading.Lock()
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self.lock = threading.Lock()
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self.last_temp = 0.
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self.last_temp = 0.
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self.last_temp_time = 0.
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self.last_temp_time = 0.
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self.target_temp = 0.
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self.target_temp = 0.
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self.control = None
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# pwm caching
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self.next_pwm_time = 0.
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self.last_pwm_value = 0
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def build_config(self):
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algos = {'watermark': ControlBangBang, 'pid': ControlPID}
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algos = {'watermark': ControlBangBang, 'pid': ControlPID}
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algo = self.config.getchoice('control', algos)
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algo = config.getchoice('control', algos)
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heater_pin = self.config.get('heater_pin')
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heater_pin = config.get('heater_pin')
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thermistor_pin = self.config.get('thermistor_pin')
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thermistor_pin = config.get('thermistor_pin')
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if algo is ControlBangBang and self.max_power == 1.:
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if algo is ControlBangBang and self.max_power == 1.:
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self.mcu_pwm = self.printer.mcu.create_digital_out(
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self.mcu_pwm = printer.mcu.create_digital_out(
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heater_pin, MAX_HEAT_TIME)
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heater_pin, MAX_HEAT_TIME)
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else:
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else:
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self.mcu_pwm = self.printer.mcu.create_pwm(
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self.mcu_pwm = printer.mcu.create_pwm(
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heater_pin, PWM_CYCLE_TIME, 0, MAX_HEAT_TIME)
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heater_pin, PWM_CYCLE_TIME, 0, MAX_HEAT_TIME)
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self.mcu_adc = self.printer.mcu.create_adc(thermistor_pin)
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self.mcu_adc = printer.mcu.create_adc(thermistor_pin)
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min_adc = self.calc_adc(self.max_temp)
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min_adc = self.calc_adc(self.max_temp)
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max_adc = self.calc_adc(self.min_temp)
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max_adc = self.calc_adc(self.min_temp)
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self.mcu_adc.set_minmax(
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self.mcu_adc.set_minmax(
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SAMPLE_TIME, SAMPLE_COUNT, minval=min_adc, maxval=max_adc)
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SAMPLE_TIME, SAMPLE_COUNT, minval=min_adc, maxval=max_adc)
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self.mcu_adc.set_adc_callback(REPORT_TIME, self.adc_callback)
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self.mcu_adc.set_adc_callback(REPORT_TIME, self.adc_callback)
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self.control = algo(self, self.config)
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self.control = algo(self, config)
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if self.printer.mcu.is_fileoutput():
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# pwm caching
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self.can_extrude = True
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self.next_pwm_time = 0.
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self.last_pwm_value = 0
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def set_pwm(self, read_time, value):
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def set_pwm(self, read_time, value):
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if value:
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if value:
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if self.target_temp <= 0.:
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if self.target_temp <= 0.:
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@ -80,7 +75,7 @@ class PrinterHeater:
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self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
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self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
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self.last_pwm_value = value
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self.last_pwm_value = value
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logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])" % (
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logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])" % (
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self.config.section, value, pwm_time,
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self.name, value, pwm_time,
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self.last_temp, self.last_temp_time, self.target_temp))
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self.last_temp, self.last_temp_time, self.target_temp))
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self.mcu_pwm.set_pwm(pwm_time, value)
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self.mcu_pwm.set_pwm(pwm_time, value)
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# Temperature calculation
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# Temperature calculation
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@ -138,22 +138,20 @@ class Printer:
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if self.debugoutput is None:
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if self.debugoutput is None:
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ConfigLogger(self.fileconfig)
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ConfigLogger(self.fileconfig)
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self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu'))
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self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu'))
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if self.fileconfig.has_section('fan'):
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if self.debugoutput is not None:
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self.objects['fan'] = fan.PrinterFan(
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self.mcu.connect_file(self.debugoutput, self.dictionary)
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self, ConfigWrapper(self, 'fan'))
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if self.fileconfig.has_section('extruder'):
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if self.fileconfig.has_section('extruder'):
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self.objects['extruder'] = extruder.PrinterExtruder(
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self.objects['extruder'] = extruder.PrinterExtruder(
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self, ConfigWrapper(self, 'extruder'))
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self, ConfigWrapper(self, 'extruder'))
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if self.fileconfig.has_section('fan'):
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self.objects['fan'] = fan.PrinterFan(
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self, ConfigWrapper(self, 'fan'))
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if self.fileconfig.has_section('heater_bed'):
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if self.fileconfig.has_section('heater_bed'):
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self.objects['heater_bed'] = heater.PrinterHeater(
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self.objects['heater_bed'] = heater.PrinterHeater(
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self, ConfigWrapper(self, 'heater_bed'))
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self, ConfigWrapper(self, 'heater_bed'))
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self.objects['toolhead'] = toolhead.ToolHead(
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self.objects['toolhead'] = toolhead.ToolHead(
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self, ConfigWrapper(self, 'printer'))
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self, ConfigWrapper(self, 'printer'))
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def build_config(self):
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# Validate that there are no undefined parameters in the config file
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for oname in sorted(self.objects.keys()):
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self.objects[oname].build_config()
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self.mcu.build_config()
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def validate_config(self):
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valid_sections = dict([(s, 1) for s, o in self.all_config_options])
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valid_sections = dict([(s, 1) for s, o in self.all_config_options])
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for section in self.fileconfig.sections():
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for section in self.fileconfig.sections():
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section = section.lower()
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section = section.lower()
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@ -171,11 +169,7 @@ class Printer:
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self.load_config()
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self.load_config()
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if self.debugoutput is None:
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if self.debugoutput is None:
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self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
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self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
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else:
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self.mcu.connect_file(self.debugoutput, self.dictionary)
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self.mcu.connect()
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self.mcu.connect()
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self.build_config()
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self.validate_config()
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self.gcode.set_printer_ready(True)
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self.gcode.set_printer_ready(True)
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self.state_message = message_ready
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self.state_message = message_ready
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except ConfigParser.Error, e:
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except ConfigParser.Error, e:
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@ -385,6 +385,7 @@ class MCU:
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self._config_crc = None
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self._config_crc = None
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self._init_callbacks = []
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self._init_callbacks = []
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self._pin_map = config.get('pin_map', None)
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self._pin_map = config.get('pin_map', None)
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self._custom = config.get('custom', '')
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# Move command queuing
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# Move command queuing
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ffi_main, self.ffi_lib = chelper.get_ffi()
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ffi_main, self.ffi_lib = chelper.get_ffi()
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self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025)
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self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025)
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@ -427,6 +428,8 @@ class MCU:
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self.register_msg(self.handle_shutdown, 'shutdown')
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self.register_msg(self.handle_shutdown, 'shutdown')
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self.register_msg(self.handle_shutdown, 'is_shutdown')
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self.register_msg(self.handle_shutdown, 'is_shutdown')
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self.register_msg(self.handle_mcu_stats, 'stats')
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self.register_msg(self.handle_mcu_stats, 'stats')
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self._build_config()
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self._send_config()
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def connect_file(self, debugoutput, dictionary, pace=False):
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def connect_file(self, debugoutput, dictionary, pace=False):
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self._is_fileoutput = True
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self._is_fileoutput = True
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self.serial.connect_file(debugoutput, dictionary)
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self.serial.connect_file(debugoutput, dictionary)
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@ -468,8 +471,7 @@ class MCU:
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return self._is_fileoutput
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return self._is_fileoutput
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# Configuration phase
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# Configuration phase
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def _add_custom(self):
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def _add_custom(self):
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data = self._config.get('custom', '')
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for line in self._custom.split('\n'):
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for line in data.split('\n'):
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line = line.strip()
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line = line.strip()
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cpos = line.find('#')
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cpos = line.find('#')
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if cpos >= 0:
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if cpos >= 0:
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@ -477,7 +479,7 @@ class MCU:
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if not line:
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if not line:
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continue
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continue
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self.add_config_cmd(line)
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self.add_config_cmd(line)
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def build_config(self):
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def _build_config(self):
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# Build config commands
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# Build config commands
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for oid in self._oids:
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for oid in self._oids:
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oid.build_config()
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oid.build_config()
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@ -501,8 +503,6 @@ class MCU:
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# Calculate config CRC
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# Calculate config CRC
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self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff
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self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff
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self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,))
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self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,))
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self._send_config()
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def _send_config(self):
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def _send_config(self):
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msg = self.create_command("get_config")
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msg = self.create_command("get_config")
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if self._is_fileoutput:
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if self._is_fileoutput:
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@ -8,10 +8,7 @@ import homing
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class PrinterStepper:
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class PrinterStepper:
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def __init__(self, printer, config, name):
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def __init__(self, printer, config, name):
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self.printer = printer
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self.config = config
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self.name = name
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self.name = name
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self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None
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self.step_dist = config.getfloat('step_distance')
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self.step_dist = config.getfloat('step_distance')
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self.inv_step_dist = 1. / self.step_dist
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self.inv_step_dist = 1. / self.step_dist
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@ -36,32 +33,29 @@ class PrinterStepper:
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endstop_accuracy * self.inv_step_dist))
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endstop_accuracy * self.inv_step_dist))
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if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
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if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
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logging.info("Endstop for %s is not accurate enough for stepper"
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logging.info("Endstop for %s is not accurate enough for stepper"
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" phase adjustment" % (self.config.section,))
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" phase adjustment" % (name,))
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self.homing_stepper_phases = None
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self.homing_stepper_phases = None
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self.position_min = self.position_endstop = self.position_max = None
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self.position_min = self.position_endstop = self.position_max = None
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if config.get('endstop_pin', None) is not None:
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endstop_pin = config.get('endstop_pin', None)
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step_pin = config.get('step_pin')
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dir_pin = config.get('dir_pin')
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mcu = printer.mcu
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self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
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enable_pin = config.get('enable_pin', None)
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||||||
|
if enable_pin is not None:
|
||||||
|
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
|
||||||
|
if endstop_pin is not None:
|
||||||
|
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
|
||||||
self.position_min = config.getfloat('position_min', 0.)
|
self.position_min = config.getfloat('position_min', 0.)
|
||||||
self.position_endstop = config.getfloat('position_endstop')
|
self.position_endstop = config.getfloat('position_endstop')
|
||||||
self.position_max = config.getfloat('position_max', 0.)
|
self.position_max = config.getfloat('position_max', 0.)
|
||||||
|
|
||||||
self.need_motor_enable = True
|
self.need_motor_enable = True
|
||||||
def set_max_jerk(self, max_halt_velocity, max_accel):
|
def set_max_jerk(self, max_halt_velocity, max_accel):
|
||||||
jc = max_halt_velocity / max_accel
|
jc = max_halt_velocity / max_accel
|
||||||
inv_max_step_accel = self.step_dist / max_accel
|
inv_max_step_accel = self.step_dist / max_accel
|
||||||
self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
|
min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
|
||||||
- math.sqrt(inv_max_step_accel + jc**2))
|
- math.sqrt(inv_max_step_accel + jc**2))
|
||||||
def build_config(self):
|
self.mcu_stepper.set_min_stop_interval(min_stop_interval)
|
||||||
step_pin = self.config.get('step_pin')
|
|
||||||
dir_pin = self.config.get('dir_pin')
|
|
||||||
mcu = self.printer.mcu
|
|
||||||
self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
|
|
||||||
self.mcu_stepper.set_min_stop_interval(self.min_stop_interval)
|
|
||||||
enable_pin = self.config.get('enable_pin', None)
|
|
||||||
if enable_pin is not None:
|
|
||||||
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
|
|
||||||
endstop_pin = self.config.get('endstop_pin', None)
|
|
||||||
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):
|
def motor_enable(self, move_time, enable=0):
|
||||||
if enable and self.need_motor_enable:
|
if enable and self.need_motor_enable:
|
||||||
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
|
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
|
||||||
|
@ -85,8 +79,7 @@ class PrinterStepper:
|
||||||
pos = self.mcu_stepper.get_mcu_position()
|
pos = self.mcu_stepper.get_mcu_position()
|
||||||
pos %= self.homing_stepper_phases
|
pos %= self.homing_stepper_phases
|
||||||
if self.homing_endstop_phase is None:
|
if self.homing_endstop_phase is None:
|
||||||
logging.info("Setting %s endstop phase to %d" % (
|
logging.info("Setting %s endstop phase to %d" % (self.name, pos))
|
||||||
self.config.section, pos))
|
|
||||||
self.homing_endstop_phase = pos
|
self.homing_endstop_phase = pos
|
||||||
return 0
|
return 0
|
||||||
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
|
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
|
||||||
|
|
|
@ -210,13 +210,11 @@ class ToolHead:
|
||||||
self.motor_off_time = config.getfloat('motor_off_time', 60.000)
|
self.motor_off_time = config.getfloat('motor_off_time', 60.000)
|
||||||
self.motor_off_timer = self.reactor.register_timer(
|
self.motor_off_timer = self.reactor.register_timer(
|
||||||
self._motor_off_handler)
|
self._motor_off_handler)
|
||||||
def build_config(self):
|
|
||||||
# Determine the maximum velocity a cartesian axis could have
|
# Determine the maximum velocity a cartesian axis could have
|
||||||
# before cornering. The 8. was determined experimentally.
|
# before cornering. The 8. was determined experimentally.
|
||||||
xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
|
xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
|
||||||
self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
|
self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
|
||||||
self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
|
self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
|
||||||
self.kin.build_config()
|
|
||||||
# Print time tracking
|
# Print time tracking
|
||||||
def update_move_time(self, movetime):
|
def update_move_time(self, movetime):
|
||||||
self.print_time += movetime
|
self.print_time += movetime
|
||||||
|
|
Loading…
Reference in New Issue