Allow the owner of the stepper object to cacluate the maximum step
jerk velocity. This is used to ensure there is no communication error
between mcu and host.
Disable checking of jerk velocity for extruder stepper motors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store the baud rate the MCU is configured for in the "identify" data
and use that rate when calculating the baudadjust parameter.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The test to check if the queue only needed to be moved was not correct
and it could lead to a segfault if clean_queue() was called instead of
actually increasing the queue size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check for an invalid count and report an error if found. This
prevents some segfaults when count goes negative.
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>
All users of max_step_velocity and max_step_accel end up multiplying
by step_dist anyway, so it's easier to store max_velocity and
max_accel.
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>
Separate out the low-level stepper motor kinematics handling from the
ToolHead class into its own class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Perform all acceleration calculations and lookahead checks in
millimeters using the cartesian coordinate system of the request. The
conversion to step coordinates is now done at the time of the step
timing creation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
At high step speeds, it is possible to exit the inner scan due to
integer truncation. Always update minadd or maxadd so that the outer
loop always terminates.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This adds basic support for running on the Atmel SAM3x8e
micro-controllers that are found in the Arudino Due boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The Arduino Due uses a 1200 baud connection to signal an erase
sequence, so avoid it during normal serial resets.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor