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>

4 files changed, 13 insertions, 6 deletions

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):