toolhead: Eliminate set_max_jerk() from kinematic classes

Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

6 files changed, 53 insertions, 45 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index ee27f7b3..10c5b5f2 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -9,20 +9,23 @@ import stepper, homing
 StepList = (0, 1, 2)
 
 class CartKinematics:
-    def __init__(self, printer, config):
+    def __init__(self, toolhead, printer, config):
         self.steppers = [stepper.PrinterHomingStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['x', 'y', 'z']]
+        max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
-            'max_z_velocity', 9999999.9, above=0.)
+            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
         self.max_z_accel = config.getfloat(
-            'max_z_accel', 9999999.9, above=0.)
+            'max_z_accel', max_accel, above=0., maxval=max_accel)
         self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
-    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
+        # Setup stepper max halt velocity
+        max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
         self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
         self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
-        self.steppers[2].set_max_jerk(0., self.max_z_accel)
+        max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
+        self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
     def set_position(self, newpos):
         for i in StepList:
             self.steppers[i].mcu_stepper.set_position(newpos[i])
diff --git a/klippy/corexy.py b/klippy/corexy.py
index 2069d16b..b22a8dac 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -9,22 +9,25 @@ import stepper, homing
 StepList = (0, 1, 2)
 
 class CoreXYKinematics:
-    def __init__(self, printer, config):
+    def __init__(self, toolhead, printer, config):
         self.steppers = [stepper.PrinterHomingStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['x', 'y', 'z']]
         self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
         self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
+        max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
-            'max_z_velocity', 9999999.9, above=0.)
+            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
         self.max_z_accel = config.getfloat(
-            'max_z_accel', 9999999.9, above=0.)
+            'max_z_accel', max_accel, above=0., maxval=max_accel)
         self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
-    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
+        # Setup stepper max halt velocity
+        max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
         self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
         self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
-        self.steppers[2].set_max_jerk(0., self.max_z_accel)
+        max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
+        self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
     def set_position(self, newpos):
         pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
         for i in StepList:
diff --git a/klippy/delta.py b/klippy/delta.py
index fc796cd4..5533e83c 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -12,13 +12,11 @@ StepList = (0, 1, 2)
 SLOW_RATIO = 3.
 
 class DeltaKinematics:
-    def __init__(self, printer, config):
-        self.config = config
+    def __init__(self, toolhead, printer, config):
         self.steppers = [stepper.PrinterHomingStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['a', 'b', 'c']]
         self.need_motor_enable = self.need_home = True
-        self.max_velocity = self.max_z_velocity = self.max_accel = 0.
         radius = config.getfloat('delta_radius', above=0.)
         arm_length = config.getfloat('delta_arm_length', above=radius)
         self.arm_length2 = arm_length**2
@@ -29,6 +27,14 @@ class DeltaKinematics:
         logging.info(
             "Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
                 self.max_z, self.limit_z))
+        # Setup stepper max halt velocity
+        self.max_velocity, self.max_accel = toolhead.get_max_velocity()
+        self.max_z_velocity = config.getfloat(
+            'max_z_velocity', self.max_velocity,
+            above=0., maxval=self.max_velocity)
+        max_xy_halt_velocity = toolhead.get_max_axis_halt(self.max_accel)
+        for s in self.steppers:
+            s.set_max_jerk(max_xy_halt_velocity, self.max_accel)
         # Determine tower locations in cartesian space
         angles = [config.getsection('stepper_a').getfloat('angle', 210.),
                   config.getsection('stepper_b').getfloat('angle', 330.),
@@ -52,14 +58,6 @@ class DeltaKinematics:
             % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
                math.sqrt(self.very_slow_xy2)))
         self.set_position([0., 0., 0.])
-    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
-        self.max_velocity = max_velocity
-        max_z_velocity = self.config.getfloat(
-            'max_z_velocity', max_velocity, above=0.)
-        self.max_z_velocity = min(max_velocity, max_z_velocity)
-        self.max_accel = max_accel
-        for stepper in self.steppers:
-            stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
     def _cartesian_to_actuator(self, coord):
         return [math.sqrt(self.arm_length2
                           - (self.towers[i][0] - coord[0])**2
diff --git a/klippy/extruder.py b/klippy/extruder.py
index 012f6290..4ad3a38c 100644
--- a/klippy/extruder.py
+++ b/klippy/extruder.py
@@ -21,6 +21,15 @@ class PrinterExtruder:
             'max_extrude_cross_section', 4. * self.nozzle_diameter**2
             , above=0.)
         self.max_extrude_ratio = max_cross_section / filament_area
+        toolhead = printer.objects['toolhead']
+        max_velocity, max_accel = toolhead.get_max_velocity()
+        self.max_e_velocity = self.config.getfloat(
+            'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
+            , above=0.)
+        self.max_e_accel = self.config.getfloat(
+            'max_extrude_only_accel', max_accel * self.max_extrude_ratio
+            , above=0.)
+        self.stepper.set_max_jerk(9999999.9, 9999999.9)
         self.max_e_dist = config.getfloat(
             'max_extrude_only_distance', 50., minval=0.)
         self.max_e_velocity = self.max_e_accel = None
@@ -34,14 +43,6 @@ class PrinterExtruder:
                 'pressure_advance_lookahead_time', 0.010, minval=0.)
         self.need_motor_enable = True
         self.extrude_pos = 0.
-    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
-        self.max_e_velocity = self.config.getfloat(
-            'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
-            , above=0.)
-        self.max_e_accel = self.config.getfloat(
-            'max_extrude_only_accel', max_accel * self.max_extrude_ratio
-            , above=0.)
-        self.stepper.set_max_jerk(9999999.9, 9999999.9)
     def get_heater(self):
         return self.heater
     def set_active(self, print_time, is_active):
diff --git a/klippy/klippy.py b/klippy/klippy.py
index 21b7597f..ae4ea656 100644
--- a/klippy/klippy.py
+++ b/klippy/klippy.py
@@ -6,7 +6,7 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, optparse, ConfigParser, logging, time, threading
 import util, reactor, queuelogger, msgproto, gcode
-import pins, mcu, chipmisc, extruder, fan, heater, toolhead
+import pins, mcu, chipmisc, toolhead, extruder, fan, heater
 
 message_ready = "Printer is ready"
 
@@ -172,7 +172,7 @@ class Printer:
             ConfigLogger(self.fileconfig, self.bglogger)
         # Create printer components
         config = ConfigWrapper(self, 'printer')
-        for m in [pins, mcu, chipmisc, extruder, fan, heater, toolhead]:
+        for m in [pins, mcu, chipmisc, toolhead, extruder, fan, heater]:
             m.add_printer_objects(self, config)
         self.mcu = self.objects['mcu']
         # Validate that there are no undefined parameters in the config file
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 1cff9ef3..0914a247 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -184,12 +184,7 @@ class ToolHead:
         self.printer = printer
         self.reactor = printer.reactor
         self.mcu = printer.objects['mcu']
-        self.extruder = extruder.DummyExtruder()
-        kintypes = {'cartesian': cartesian.CartKinematics,
-                    'corexy': corexy.CoreXYKinematics,
-                    'delta': delta.DeltaKinematics}
-        self.kin = config.getchoice('kinematics', kintypes)(printer, config)
-        self.max_speed = config.getfloat('max_velocity', above=0.)
+        self.max_velocity = config.getfloat('max_velocity', above=0.)
         self.max_accel = config.getfloat('max_accel', above=0.)
         self.max_accel_to_decel = config.getfloat(
             'max_accel_to_decel', self.max_accel * 0.5
@@ -197,7 +192,6 @@ class ToolHead:
         self.junction_deviation = config.getfloat(
             'junction_deviation', 0.02, above=0.)
         self.move_queue = MoveQueue()
-        self.move_queue.set_extruder(self.extruder)
         self.commanded_pos = [0., 0., 0., 0.]
         # Print time tracking
         self.buffer_time_low = config.getfloat(
@@ -221,12 +215,14 @@ class ToolHead:
             'motor_off_time', 600.000, minval=0.)
         self.motor_off_timer = self.reactor.register_timer(
             self._motor_off_handler)
-        # Determine the maximum velocity a cartesian axis could have
-        # before cornering.  The 8. was determined experimentally.
-        xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
-        self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
-        for e in extruder.get_printer_extruders(printer):
-            e.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
+        # Create kinematics class
+        self.extruder = extruder.DummyExtruder()
+        self.move_queue.set_extruder(self.extruder)
+        kintypes = {'cartesian': cartesian.CartKinematics,
+                    'corexy': corexy.CoreXYKinematics,
+                    'delta': delta.DeltaKinematics}
+        self.kin = config.getchoice('kinematics', kintypes)(
+            self, printer, config)
     # Print time tracking
     def update_move_time(self, movetime):
         self.print_time += movetime
@@ -332,7 +328,7 @@ class ToolHead:
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos)
     def move(self, newpos, speed):
-        speed = min(speed, self.max_speed)
+        speed = min(speed, self.max_velocity)
         move = Move(self, self.commanded_pos, newpos, speed)
         if not move.move_d:
             return
@@ -396,6 +392,13 @@ class ToolHead:
             self.reset_print_time()
         except:
             logging.exception("Exception in force_shutdown")
+    def get_max_velocity(self):
+        return self.max_velocity, self.max_accel
+    def get_max_axis_halt(self, max_accel):
+        # Determine the maximum velocity a cartesian axis could halt
+        # at due to the junction_deviation setting.  The 8.0 was
+        # determined experimentally.
+        return math.sqrt(8. * self.junction_deviation * max_accel)
 
 def add_printer_objects(printer, config):
     printer.add_object('toolhead', ToolHead(printer, config))