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extruder: Separate extruder stepper tracking to new ExtruderStepper class 

Move the stepper handling (including pressure advance handling) to a
new class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-01-11 14:21:57 -05:00
parent 29724a7411
commit ffbd2698fe
1 changed files with 97 additions and 75 deletions
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172
klippy/kinematics/extruder.py
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@ -1,15 +1,94 @@
# Code for handling printer nozzle extruders
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2022 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, chelper
class ExtruderStepper:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name()
self.pressure_advance = self.pressure_advance_smooth_time = 0.
# Setup stepper
self.stepper = stepper.PrinterStepper(config)
ffi_main, ffi_lib = chelper.get_ffi()
self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
ffi_lib.free)
self.stepper.set_stepper_kinematics(self.sk_extruder)
toolhead = self.printer.lookup_object('toolhead')
toolhead.register_step_generator(self.stepper.generate_steps)
# Register commands
gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder':
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
self.name, self.cmd_SET_E_STEP_DISTANCE,
desc=self.cmd_SET_E_STEP_DISTANCE_help)
def get_status(self, eventtime):
return {'pressure_advance': self.pressure_advance,
'smooth_time': self.pressure_advance_smooth_time}
def find_past_position(self, print_time):
mcu_pos = self.stepper.get_past_mcu_position(print_time)
return self.stepper.mcu_to_commanded_position(mcu_pos)
def _set_pressure_advance(self, pressure_advance, smooth_time):
old_smooth_time = self.pressure_advance_smooth_time
if not self.pressure_advance:
old_smooth_time = 0.
new_smooth_time = smooth_time
if not pressure_advance:
new_smooth_time = 0.
toolhead = self.printer.lookup_object("toolhead")
toolhead.note_step_generation_scan_time(new_smooth_time * .5,
old_delay=old_smooth_time * .5)
ffi_main, ffi_lib = chelper.get_ffi()
espa = ffi_lib.extruder_set_pressure_advance
espa(self.sk_extruder, pressure_advance, new_smooth_time)
self.pressure_advance = pressure_advance
self.pressure_advance_smooth_time = smooth_time
cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
def cmd_default_SET_PRESSURE_ADVANCE(self, gcmd):
extruder = self.printer.lookup_object('toolhead').get_extruder()
extruder.extruder_stepper.cmd_SET_PRESSURE_ADVANCE(gcmd)
def cmd_SET_PRESSURE_ADVANCE(self, gcmd):
pressure_advance = gcmd.get_float('ADVANCE', self.pressure_advance,
minval=0.)
smooth_time = gcmd.get_float('SMOOTH_TIME',
self.pressure_advance_smooth_time,
minval=0., maxval=.200)
self._set_pressure_advance(pressure_advance, smooth_time)
msg = ("pressure_advance: %.6f\n"
"pressure_advance_smooth_time: %.6f"
% (pressure_advance, smooth_time))
self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg))
gcmd.respond_info(msg, log=False)
cmd_SET_E_STEP_DISTANCE_help = "Set extruder step distance"
def cmd_SET_E_STEP_DISTANCE(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
dist = gcmd.get_float('DISTANCE', None, above=0.)
if dist is None:
step_dist = self.stepper.get_step_dist()
gcmd.respond_info("Extruder '%s' step distance is %0.6f"
% (self.name, step_dist))
return
toolhead.flush_step_generation()
self.stepper.set_step_dist(dist)
gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
% (self.name, dist))
# Tracking for hotend heater, extrusion motion queue, and extruder stepper
class PrinterExtruder:
def __init__(self, config, extruder_num):
self.printer = config.get_printer()
self.name = config.get_name()
self.last_position = 0.
# Setup hotend heater
shared_heater = config.get('shared_heater', None)
pheaters = self.printer.load_object(config, 'heaters')
gcode_id = 'T%d' % (extruder_num,)
@ -17,7 +96,7 @@ class PrinterExtruder:
self.heater = pheaters.setup_heater(config, gcode_id)
else:
self.heater = pheaters.lookup_heater(shared_heater)
self.stepper = stepper.PrinterStepper(config)
# Setup kinematic checks
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat(
'filament_diameter', minval=self.nozzle_diameter)
@ -40,61 +119,34 @@ class PrinterExtruder:
'max_extrude_only_distance', 50., minval=0.)
self.instant_corner_v = config.getfloat(
'instantaneous_corner_velocity', 1., minval=0.)
self.pressure_advance = self.pressure_advance_smooth_time = 0.
pressure_advance = config.getfloat('pressure_advance', 0., minval=0.)
smooth_time = config.getfloat('pressure_advance_smooth_time',
0.040, above=0., maxval=.200)
# Setup iterative solver
# Setup extruder trapq (trapezoidal motion queue)
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
ffi_lib.free)
self.stepper.set_stepper_kinematics(self.sk_extruder)
self.stepper.set_trapq(self.trapq)
toolhead.register_step_generator(self.stepper.generate_steps)
self._set_pressure_advance(pressure_advance, smooth_time)
# Setup extruder stepper
self.extruder_stepper = ExtruderStepper(config)
self.extruder_stepper.stepper.set_trapq(self.trapq)
pa = config.getfloat('pressure_advance', 0., minval=0.)
smooth_time = config.getfloat('pressure_advance_smooth_time',
0.040, above=0., maxval=.200)
self.extruder_stepper._set_pressure_advance(pa, smooth_time)
# Register commands
gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder':
toolhead.set_extruder(self, 0.)
gcode.register_command("M104", self.cmd_M104)
gcode.register_command("M109", self.cmd_M109)
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("ACTIVATE_EXTRUDER", "EXTRUDER",
self.name, self.cmd_ACTIVATE_EXTRUDER,
desc=self.cmd_ACTIVATE_EXTRUDER_help)
gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
self.name, self.cmd_SET_E_STEP_DISTANCE,
desc=self.cmd_SET_E_STEP_DISTANCE_help)
def update_move_time(self, flush_time):
self.trapq_finalize_moves(self.trapq, flush_time)
def _set_pressure_advance(self, pressure_advance, smooth_time):
old_smooth_time = self.pressure_advance_smooth_time
if not self.pressure_advance:
old_smooth_time = 0.
new_smooth_time = smooth_time
if not pressure_advance:
new_smooth_time = 0.
toolhead = self.printer.lookup_object("toolhead")
toolhead.note_step_generation_scan_time(new_smooth_time * .5,
old_delay=old_smooth_time * .5)
ffi_main, ffi_lib = chelper.get_ffi()
espa = ffi_lib.extruder_set_pressure_advance
espa(self.sk_extruder, pressure_advance, new_smooth_time)
self.pressure_advance = pressure_advance
self.pressure_advance_smooth_time = smooth_time
def get_status(self, eventtime):
return dict(self.heater.get_status(eventtime),
can_extrude=self.heater.can_extrude,
pressure_advance=self.pressure_advance,
smooth_time=self.pressure_advance_smooth_time)
sts = self.heater.get_status(eventtime)
sts['can_extrude'] = self.heater.can_extrude
sts.update(self.extruder_stepper.get_status(eventtime))
return sts
def get_name(self):
return self.name
def get_heater(self):
@ -104,8 +156,7 @@ class PrinterExtruder:
def sync_stepper(self, stepper):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
epos = self.stepper.get_commanded_position()
stepper.set_position([epos, 0., 0.])
stepper.set_position([self.last_position, 0., 0.])
stepper.set_trapq(self.trapq)
def stats(self, eventtime):
return self.heater.stats(eventtime)
@ -155,9 +206,9 @@ class PrinterExtruder:
move.start_pos[3], 0., 0.,
1., can_pressure_advance, 0.,
start_v, cruise_v, accel)
self.last_position = move.end_pos[3]
def find_past_position(self, print_time):
mcu_pos = self.stepper.get_past_mcu_position(print_time)
return self.stepper.mcu_to_commanded_position(mcu_pos)
return self.extruder_stepper.find_past_position(print_time)
def cmd_M104(self, gcmd, wait=False):
# Set Extruder Temperature
temp = gcmd.get_float('S', 0.)
@ -178,35 +229,6 @@ class PrinterExtruder:
def cmd_M109(self, gcmd):
# Set Extruder Temperature and Wait
self.cmd_M104(gcmd, wait=True)
cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
def cmd_default_SET_PRESSURE_ADVANCE(self, gcmd):
extruder = self.printer.lookup_object('toolhead').get_extruder()
extruder.cmd_SET_PRESSURE_ADVANCE(gcmd)
def cmd_SET_PRESSURE_ADVANCE(self, gcmd):
pressure_advance = gcmd.get_float('ADVANCE', self.pressure_advance,
minval=0.)
smooth_time = gcmd.get_float('SMOOTH_TIME',
self.pressure_advance_smooth_time,
minval=0., maxval=.200)
self._set_pressure_advance(pressure_advance, smooth_time)
msg = ("pressure_advance: %.6f\n"
"pressure_advance_smooth_time: %.6f"
% (pressure_advance, smooth_time))
self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg))
gcmd.respond_info(msg, log=False)
cmd_SET_E_STEP_DISTANCE_help = "Set extruder step distance"
def cmd_SET_E_STEP_DISTANCE(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
dist = gcmd.get_float('DISTANCE', None, above=0.)
if dist is None:
step_dist = self.stepper.get_step_dist()
gcmd.respond_info("Extruder '%s' step distance is %0.6f"
% (self.name, step_dist))
return
toolhead.flush_step_generation()
self.stepper.set_step_dist(dist)
gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
% (self.name, dist))
cmd_ACTIVATE_EXTRUDER_help = "Change the active extruder"
def cmd_ACTIVATE_EXTRUDER(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
@ -215,7 +237,7 @@ class PrinterExtruder:
return
gcmd.respond_info("Activating extruder %s" % (self.name,))
toolhead.flush_step_generation()
toolhead.set_extruder(self, self.stepper.get_commanded_position())
toolhead.set_extruder(self, self.last_position)
self.printer.send_event("extruder:activate_extruder")
# Dummy extruder class used when a printer has no extruder at all