Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the Homing class in the gcode handler instead of in the
kinematic classes. This will make it easier to pass error messages
back to the user.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the QueryEndstops in the gcode handler instead of in the
kinematic classes. This simplifies the gcode handler as it can
directly register its response callback.
Also, store the stepper name in the stepper class. Also, propagate
the print_time of the query request to the mcu_endstop class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate the next "cornering" minimum and maximum for each move. The
"cornering minimum" is the lowest speed the head will reach
immediately after this move (with no interleaving acceleration or
cruising). The "cornering maximum" is the maximum speed the head will
reach after the cornering minimum (with no interleaving deceleration
or cruising).
These cornering calculations will be helpful in the extruder "pressure
advance" code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Take into account the maximum possible start speed of a move when
calculating junction_start_max. This simplifies the lookahead logic.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store the start position (in addition to the existing end position) in
the Move class. The start position can be useful to the kinematic
classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a check_move() method in the extruder and cartesian
kinematic classes. This allows the lower level classes to verify the
contents of the move prior to queing that move.
The speed and acceleration handling for special Z and extrude only
moves are also moved from the generic toolhead class to the low-level
classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the code so that the kinematic class (currently just
cartesian.py) has more control over the homing process.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only skip acceleration between moves if both moves perform a similar
amount of extrusion. This ensures the extruder has sufficient time to
accelerate to and from each extrude move.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a new python file (extruder.py) to control the extruder heater
and stepper motors. This separates the extruder control logic from
the cartesian robot code - making it easier to customize both the
kinematic control of the robot as well as the extruder.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Explicitly check for when the move_queue is empty and only call
move.calc_junction() when there is a previous move. This avoids the
need to create a dummy "sentinal" move object and it simplifies the
code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Remove the lookahead.py file and move its code directly into
toolhead.py. The MoveQueue() class is small and tightly coupled to
the toolhead code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor