mirror of https://github.com/Desuuuu/klipper.git
152 lines
6.6 KiB
Python
152 lines
6.6 KiB
Python
# Code for handling printer nozzle extruders
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#
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# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import stepper, heater, homing
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class PrinterExtruder:
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def __init__(self, printer, config):
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self.heater = heater.PrinterHeater(printer, config)
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self.stepper = stepper.PrinterStepper(printer, config)
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self.pressure_advance = config.getfloat('pressure_advance', 0.)
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self.need_motor_enable = True
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self.stepper_pos = 0
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self.extrude_pos = 0.
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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)
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self.stepper.build_config()
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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.need_motor_enable = True
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def check_move(self, move):
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if not self.heater.can_extrude:
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raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
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if (not move.do_calc_junction
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and not move.axes_d[0] and not move.axes_d[1]
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and not move.axes_d[2]):
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# Extrude only move - limit accel and velocity
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move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
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def move(self, move_time, move):
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if self.need_motor_enable:
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self.stepper.motor_enable(move_time, 1)
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self.need_motor_enable = False
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axis_d = move.axes_d[3]
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extrude_r = axis_d / move.move_d
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inv_accel = 1. / (move.accel * extrude_r)
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start_v = move.start_v * extrude_r
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cruise_v = move.cruise_v * extrude_r
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end_v = move.end_v * extrude_r
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accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
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accel_d = move.accel_r * axis_d
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cruise_d = move.cruise_r * axis_d
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decel_d = move.decel_r * axis_d
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retract_t = retract_d = retract_v = 0.
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decel_v = cruise_v
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# Update for pressure advance
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start_pos = self.extrude_pos
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if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1])
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and self.pressure_advance):
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# Increase accel_d and start_v when accelerating
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move_extrude_r = move.extrude_r
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prev_pressure_d = start_pos - move.start_pos[3]
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if accel_t:
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npd = move.cruise_v * move_extrude_r * self.pressure_advance
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extra_accel_d = npd - prev_pressure_d
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if extra_accel_d > 0.:
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accel_d += extra_accel_d
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start_v += extra_accel_d / accel_t
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prev_pressure_d += extra_accel_d
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# Update decel and retract parameters when decelerating
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if decel_t:
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if move.corner_min:
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npd = move.corner_max*move_extrude_r * self.pressure_advance
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extra_decel_d = prev_pressure_d - npd
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if move.end_v > move.corner_min:
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extra_decel_d *= ((move.cruise_v - move.end_v)
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/ (move.cruise_v - move.corner_min))
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else:
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npd = move.end_v * move_extrude_r * self.pressure_advance
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extra_decel_d = prev_pressure_d - npd
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if extra_decel_d > 0.:
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extra_decel_v = extra_decel_d / decel_t
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decel_v -= extra_decel_v
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end_v -= extra_decel_v
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if decel_v <= 0.:
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# The entire decel phase is replaced with retraction
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retract_t = decel_t
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retract_d = -(end_v + decel_v) * 0.5 * decel_t
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retract_v = -decel_v
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decel_t = decel_d = 0.
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elif end_v < 0.:
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# Split decel phase into decel and retraction
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retract_t = -end_v * inv_accel
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retract_d = -end_v * 0.5 * retract_t
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decel_t -= retract_t
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decel_d = decel_v * 0.5 * decel_t
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else:
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# There is still only a decel phase (no retraction)
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decel_d -= extra_decel_d
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# Prepare for steps
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stepper_pos = self.stepper_pos
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inv_step_dist = self.stepper.inv_step_dist
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step_dist = self.stepper.step_dist
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mcu_stepper = self.stepper.mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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step_offset = stepper_pos - start_pos * inv_step_dist
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# Acceleration steps
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accel_multiplier = 2.0 * step_dist * inv_accel
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if accel_d:
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#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
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accel_time_offset = start_v * inv_accel
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accel_sqrt_offset = accel_time_offset**2
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accel_steps = accel_d * inv_step_dist
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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stepper_pos += count
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step_offset += count - accel_steps
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mcu_time += accel_t
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# Cruising steps
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if cruise_d:
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#t = pos/cruise_v
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cruise_multiplier = step_dist / cruise_v
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cruise_steps = cruise_d * inv_step_dist
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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stepper_pos += count
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step_offset += count - cruise_steps
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mcu_time += cruise_t
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# Deceleration steps
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if decel_d:
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#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
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decel_time_offset = decel_v * inv_accel
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decel_sqrt_offset = decel_time_offset**2
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decel_steps = decel_d * inv_step_dist
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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stepper_pos += count
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step_offset += count - decel_steps
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mcu_time += decel_t
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# Retraction steps
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if retract_d:
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#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
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accel_time_offset = retract_v * inv_accel
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accel_sqrt_offset = accel_time_offset**2
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accel_steps = -retract_d * inv_step_dist
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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stepper_pos += count
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self.stepper_pos = stepper_pos
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self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
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