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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-11-04 19:28:07 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-05 11:04:50 -0400 |
| commit | a201385008de76c5e52ec40fc63e6b292863e71c (patch) | |
| tree | e0a8b8a323d284c7fd6a79f2a078031452561b1a | |
| parent | 9d7aa1e1558ffeb596f36d0b1c72fbd1ba062ea8 (diff) | |
| download | kutter-a201385008de76c5e52ec40fc63e6b292863e71c.tar.gz kutter-a201385008de76c5e52ec40fc63e6b292863e71c.tar.xz kutter-a201385008de76c5e52ec40fc63e6b292863e71c.zip | |
extruder: Consistently use extrude distance in calculations
Avoid mixing the travel distance of the head (and its associated
velocity and acceleration) with the distance the filament moves.
Instead, use the filament travel distance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/extruder.py | 26 |
1 files changed, 14 insertions, 12 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index 198a89ed..ad439421 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -28,20 +28,23 @@ class PrinterExtruder: # Extrude only move - limit accel and velocity move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel) def move(self, move_time, move): - move_d = move.move_d - inv_accel = 1. / move.accel + axis_d = move.axes_d[3] + extrude_r = axis_d / move.move_d + inv_accel = 1. / (move.accel * extrude_r) - start_v, cruise_v, end_v = move.start_v, move.cruise_v, move.end_v + start_v = move.start_v * extrude_r + cruise_v = move.cruise_v * extrude_r + end_v = move.end_v * extrude_r accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t - accel_d = move.accel_r * move_d - cruise_d = move.cruise_r * move_d - decel_d = move.decel_r * move_d + accel_d = move.accel_r * axis_d + cruise_d = move.cruise_r * axis_d + decel_d = move.decel_r * axis_d retract_t = retract_d = retract_v = 0. decel_v = cruise_v # Update for pressure advance - if (move.axes_d[3] >= 0. and (move.axes_d[0] or move.axes_d[1]) + if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1]) and self.pressure_advance): # Increase accel_d and start_v when accelerating extra_accel_d = (cruise_v - start_v) * self.pressure_advance @@ -71,14 +74,13 @@ class PrinterExtruder: decel_d -= extra_decel_d # Determine regular steps - extrude_r = move.axes_d[3] / move_d forward_d = accel_d + cruise_d + decel_d start_pos = self.extrude_pos - end_pos = start_pos + forward_d * extrude_r + end_pos = start_pos + forward_d inv_step_dist = self.stepper.inv_step_dist new_step_pos = int(end_pos*inv_step_dist + 0.5) if new_step_pos != self.stepper_pos: - steps = forward_d * extrude_r * inv_step_dist + steps = forward_d * inv_step_dist step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5 self.stepper_pos = new_step_pos sdir = 0 @@ -119,10 +121,10 @@ class PrinterExtruder: # Determine retract steps start_pos = end_pos - end_pos -= retract_d * extrude_r + end_pos -= retract_d new_step_pos = int(end_pos*inv_step_dist + 0.5) if new_step_pos != self.stepper_pos: - steps = retract_d * extrude_r * inv_step_dist + steps = retract_d * inv_step_dist step_offset = start_pos * inv_step_dist - self.stepper_pos + 0.5 self.stepper_pos = new_step_pos mcu_time, so = self.stepper.prep_move( |