extruder: Calculate sane defaults for extrude only velocity and accel

Instead of requiring the user enter velocity and accel parameters for
extrude only moves, calculate sane defaults from the printer's maximum
velocity and accel.

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

8 files changed, 21 insertions, 16 deletions

diff --git a/config/avrsim.cfg b/config/avrsim.cfg
index 9fbcfb7c..83afde34 100644
--- a/config/avrsim.cfg
+++ b/config/avrsim.cfg
@@ -44,8 +44,6 @@ enable_pin: ar25
 step_distance: .004242
 nozzle_diameter: 0.500
 filament_diameter: 3.500
-max_velocity: 200000
-max_accel: 3000
 heater_pin: ar4
 thermistor_pin: analog1
 thermistor_type: EPCOS 100K B57560G104F
diff --git a/config/example-delta.cfg b/config/example-delta.cfg
index 41e238ec..01ab6482 100644
--- a/config/example-delta.cfg
+++ b/config/example-delta.cfg
@@ -48,8 +48,6 @@ enable_pin: !ar24
 step_distance: .0022
 nozzle_diameter: 0.400
 filament_diameter: 1.750
-max_velocity: 200
-max_accel: 3000
 heater_pin: ar10
 thermistor_pin: analog13
 thermistor_type: ATC Semitec 104GT-2
diff --git a/config/example.cfg b/config/example.cfg
index 98d1c0d1..ce6a398d 100644
--- a/config/example.cfg
+++ b/config/example.cfg
@@ -125,12 +125,16 @@ filament_diameter: 3.500
 #   may be. If an extrude only move requests a distance greater than
 #   this value it will cause an error to be returned. The default is
 #   50mm.
-max_velocity: 200000
+#max_extrude_only_velocity:
 #   Maximum velocity (in mm/s) of the extruder motor for extrude only
-#   moves. This parameter must be provided.
-max_accel: 3000
+#   moves. If this is not specified then it is calculated to match the
+#   limit an XY printing move with a max_extrude_cross_section
+#   extrusion would have.
+#max_extrude_only_accel:
 #   Maximum acceleration (in mm/s^2) of the extruder motor for extrude
-#   only moves. This parameter must be provided.
+#   only moves. If this is not specified then it is calculated to
+#   match the limit an XY printing move with a
+#   max_extrude_cross_section extrusion would have.
 #pressure_advance: 0.0
 #   The amount of raw filament to push into the extruder during
 #   extruder acceleration. An equal amount of filament is retracted
diff --git a/config/makergear-m2-2012.cfg b/config/makergear-m2-2012.cfg
index 83deee9b..833ea72a 100644
--- a/config/makergear-m2-2012.cfg
+++ b/config/makergear-m2-2012.cfg
@@ -50,8 +50,6 @@ enable_pin: !PA4
 step_distance: .004242
 nozzle_diameter: 0.350
 filament_diameter: 1.750
-max_velocity: 200000
-max_accel: 3000
 pressure_advance: 0.07
 heater_pin: PH6
 thermistor_pin: PF0
diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index b2bd9661..636e9284 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -17,7 +17,7 @@ class CartKinematics:
         self.max_z_accel = config.getfloat('max_z_accel', 9999999.9)
         self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
-    def set_max_jerk(self, max_xy_halt_velocity, max_accel):
+    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, 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)
diff --git a/klippy/delta.py b/klippy/delta.py
index f8f85c02..041b6ce7 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -29,8 +29,7 @@ class DeltaKinematics:
             (cos(210.)*radius, sin(210.)*radius),
             (cos(330.)*radius, sin(330.)*radius),
             (cos(90.)*radius, sin(90.)*radius)]
-    def set_max_jerk(self, max_xy_halt_velocity, max_accel):
-        # XXX - this sets conservative values
+    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
         for stepper in self.steppers:
             stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
     def build_config(self):
diff --git a/klippy/extruder.py b/klippy/extruder.py
index 9e3d8143..7e314a7b 100644
--- a/klippy/extruder.py
+++ b/klippy/extruder.py
@@ -8,6 +8,7 @@ import stepper, heater, homing
 
 class PrinterExtruder:
     def __init__(self, printer, config):
+        self.config = config
         self.heater = heater.PrinterHeater(printer, config)
         self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
         nozzle_diameter = config.getfloat('nozzle_diameter')
@@ -17,11 +18,15 @@ class PrinterExtruder:
             'max_extrude_cross_section', 4. * nozzle_diameter**2)
         self.max_extrude_ratio = max_cross_section / filament_area
         self.max_e_dist = config.getfloat('max_extrude_only_distance', 50.)
-        self.max_e_velocity = config.getfloat('max_velocity')
-        self.max_e_accel = config.getfloat('max_accel')
+        self.max_e_velocity = self.max_e_accel = None
         self.pressure_advance = config.getfloat('pressure_advance', 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)
+        self.max_e_accel = self.config.getfloat(
+            'max_extrude_only_accel', max_accel * self.max_extrude_ratio)
     def build_config(self):
         self.heater.build_config()
         self.stepper.set_max_jerk(9999999.9, 9999999.9)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 614ab4b1..922749ec 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -179,7 +179,10 @@ class ToolHead:
         self.motor_off_time = self.reactor.NEVER
         self.flush_timer = self.reactor.register_timer(self._flush_handler)
     def build_config(self):
-        self.kin.set_max_jerk(0.005 * self.max_accel, self.max_accel) # XXX
+        xy_halt = 0.005 * self.max_accel # XXX
+        self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
+        if self.extruder is not None:
+            self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
         self.kin.build_config()
     # Print time tracking
     def update_move_time(self, movetime):