mirror of https://github.com/Desuuuu/klipper.git
232 lines
10 KiB
Python
232 lines
10 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 math, logging
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import stepper, heater, homing
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EXTRUDE_DIFF_IGNORE = 1.02
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class PrinterExtruder:
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def __init__(self, printer, config):
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self.config = config
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self.heater = heater.PrinterHeater(printer, config)
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self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
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self.nozzle_diameter = config.getfloat('nozzle_diameter')
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filament_diameter = config.getfloat('filament_diameter')
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filament_area = math.pi * (filament_diameter * .5)**2
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max_cross_section = config.getfloat(
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'max_extrude_cross_section', 4. * self.nozzle_diameter**2)
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self.max_extrude_ratio = max_cross_section / filament_area
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self.max_e_dist = config.getfloat('max_extrude_only_distance', 50.)
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self.max_e_velocity = self.max_e_accel = None
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self.pressure_advance = config.getfloat('pressure_advance', 0.)
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self.pressure_advance_lookahead_time = 0.
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if self.pressure_advance:
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self.pressure_advance_lookahead_time = config.getfloat(
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'pressure_advance_lookahead_time', 0.010)
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self.need_motor_enable = True
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self.extrude_pos = 0.
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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self.max_e_velocity = self.config.getfloat(
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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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'max_extrude_only_accel', max_accel * self.max_extrude_ratio)
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self.stepper.set_max_jerk(9999999.9, 9999999.9)
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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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move.extrude_r = move.axes_d[3] / move.move_d
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move.extrude_max_corner_v = 0.
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if not self.heater.can_extrude:
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raise homing.EndstopMoveError(
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move.end_pos, "Extrude below minimum temp")
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if not move.is_kinematic_move:
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# Extrude only move - limit accel and velocity
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if move.axes_d[3] > self.max_e_dist:
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raise homing.EndstopMoveError(
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move.end_pos, "Extrude only move too long")
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move.limit_speed(self.max_e_velocity, self.max_e_accel)
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elif (move.extrude_r > self.max_extrude_ratio
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and move.axes_d[3] > self.nozzle_diameter*self.max_extrude_ratio):
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logging.debug("Overextrude: %s vs %s" % (
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move.extrude_r, self.max_extrude_ratio))
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raise homing.EndstopMoveError(
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move.end_pos, "Move exceeds maximum extrusion cross section")
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def calc_junction(self, prev_move, move):
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extrude = move.axes_d[3]
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prev_extrude = prev_move.axes_d[3]
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if extrude or prev_extrude:
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if not extrude or not prev_extrude:
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# Extrude move to non-extrude move - disable lookahead
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return 0.
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if ((move.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
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or prev_move.extrude_r > move.extrude_r * EXTRUDE_DIFF_IGNORE)
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and abs(move.move_d * prev_move.extrude_r - extrude) >= .001):
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# Extrude ratio between moves is too different
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return 0.
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move.extrude_r = prev_move.extrude_r
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return move.max_cruise_v2
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def lookahead(self, moves, flush_count, lazy):
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lookahead_t = self.pressure_advance_lookahead_time
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if not lookahead_t:
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return flush_count
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# Calculate max_corner_v - the speed the head will accelerate
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# to after cornering.
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for i in range(flush_count):
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move = moves[i]
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if not move.decel_t:
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continue
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cruise_v = move.cruise_v
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max_corner_v = 0.
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sum_t = lookahead_t
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for j in range(i+1, flush_count):
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fmove = moves[j]
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if not fmove.max_start_v2:
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break
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if fmove.cruise_v > max_corner_v:
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if (not max_corner_v
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and not fmove.accel_t and not fmove.cruise_t):
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# Start timing after any full decel moves
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continue
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if sum_t >= fmove.accel_t:
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max_corner_v = fmove.cruise_v
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else:
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max_corner_v = max(
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max_corner_v, fmove.start_v + fmove.accel * sum_t)
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if max_corner_v >= cruise_v:
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break
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sum_t -= fmove.accel_t + fmove.cruise_t + fmove.decel_t
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if sum_t <= 0.:
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break
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else:
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if lazy:
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return i
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move.extrude_max_corner_v = max_corner_v
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return flush_count
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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 = abs(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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pressure_advance = self.pressure_advance * move.extrude_r
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prev_pressure_d = start_pos - move.start_pos[3]
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if accel_d:
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npd = move.cruise_v * 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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emcv = move.extrude_max_corner_v
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if decel_d and emcv < move.cruise_v:
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npd = max(emcv, move.end_v) * 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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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_pos = mcu_stepper.commanded_position
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step_offset = step_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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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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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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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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self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
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# Dummy extruder class used when a printer has no extruder at all
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class DummyExtruder:
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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pass
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def motor_off(self, move_time):
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pass
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def check_move(self, move):
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raise homing.EndstopMoveError(
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move.end_pos, "Extrude when no extruder present")
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def calc_junction(self, prev_move, move):
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return move.max_cruise_v2
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def lookahead(self, moves, flush_count, lazy):
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return flush_count
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