diff options
| -rw-r--r-- | klippy/cartesian.py | 21 | ||||
| -rw-r--r-- | klippy/extruder.py | 8 | ||||
| -rw-r--r-- | klippy/toolhead.py | 59 |
3 files changed, 47 insertions, 41 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index bc141c12..18a22382 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -22,17 +22,10 @@ class CartKinematics: def set_position(self, newpos): self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5) for i in StepList] - def get_max_xy_speed(self): + def get_max_speed(self): max_xy_speed = min(s.max_velocity for s in self.steppers[:2]) max_xy_accel = min(s.max_accel for s in self.steppers[:2]) return max_xy_speed, max_xy_accel - def get_max_speed(self, axes_d, move_d): - # Calculate max speed and accel for a given move - velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i]) - for i in StepList if axes_d[i]]) - accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) - for i in StepList if axes_d[i]]) - return velocity_factor * move_d, accel_factor * move_d def get_homed_position(self): return [s.get_homed_position() for s in self.steppers] def home(self, toolhead, axes): @@ -69,6 +62,18 @@ class CartKinematics: stepper.motor_enable(move_time, 0) def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) + def check_move(self, move): + if not move.axes_d[2]: + # Normal XY move - use defaults + return + # Move with Z - update velocity and accel for slower Z axis + axes_d = move.axes_d + move_d = move.move_d + velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i]) + for i in StepList if axes_d[i]]) + accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) + for i in StepList if axes_d[i]]) + move.limit_speed(velocity_factor * move_d, accel_factor * move_d) def move(self, move_time, move): inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v diff --git a/klippy/extruder.py b/klippy/extruder.py index 3aef5a19..6a7d6c99 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -18,10 +18,14 @@ class PrinterExtruder: self.heater.build_config() self.stepper.set_max_jerk(9999999.9) self.stepper.build_config() - def get_max_speed(self): - return self.stepper.max_velocity, self.stepper.max_accel def motor_off(self, move_time): self.stepper.motor_enable(move_time, 0) + def check_move(self, move): + if (not move.do_calc_junction + and not move.axes_d[0] and not move.axes_d[1] + and not move.axes_d[2]): + # 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 diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d6f41ef1..e73a2d15 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -14,12 +14,23 @@ EXTRUDE_DIFF_IGNORE = 1.02 # Class to track each move request class Move: - def __init__(self, toolhead, pos, move_d, axes_d, speed, accel): + def __init__(self, toolhead, pos, axes_d, speed, accel): self.toolhead = toolhead self.pos = tuple(pos) - self.move_d = move_d self.axes_d = axes_d self.accel = accel + self.do_calc_junction = True + if axes_d[2]: + # Move with Z + move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) + self.do_calc_junction = False + else: + move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2) + if not move_d: + # Extrude only move + move_d = abs(axes_d[3]) + self.do_calc_junction = False + self.move_d = move_d self.extrude_r = axes_d[3] / move_d # Junction speeds are velocities squared. The junction_delta # is the maximum amount of this squared-velocity that can @@ -27,7 +38,13 @@ class Move: self.junction_max = speed**2 self.junction_delta = 2.0 * move_d * accel self.junction_start_max = 0. + def limit_speed(self, speed, accel): + self.junction_max = min(self.junction_max, speed**2) + self.accel = min(self.accel, accel) + self.junction_delta = 2.0 * self.move_d * self.accel def calc_junction(self, prev_move): + if not self.do_calc_junction or not prev_move.do_calc_junction: + return # Find max junction_start_velocity between two moves if (self.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE or prev_move.extrude_r > self.extrude_r * EXTRUDE_DIFF_IGNORE): @@ -141,7 +158,7 @@ class ToolHead: self.reactor = printer.reactor self.extruder = printer.objects.get('extruder') self.kin = cartesian.CartKinematics(printer, config) - self.max_xy_speed, self.max_xy_accel = self.kin.get_max_xy_speed() + self.max_speed, self.max_accel = self.kin.get_max_speed() self.junction_deviation = config.getfloat('junction_deviation', 0.02) self.move_queue = MoveQueue() self.commanded_pos = [0., 0., 0., 0.] @@ -227,38 +244,18 @@ class ToolHead: self.move_queue.flush() self.commanded_pos[:] = newpos self.kin.set_position(newpos) - def _move_with_z(self, newpos, axes_d, speed): - self.move_queue.flush() - move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) - # Limit velocity and accel to max for each stepper - kin_speed, kin_accel = self.kin.get_max_speed(axes_d, move_d) - speed = min(speed, self.max_xy_speed, kin_speed) - accel = min(self.max_xy_accel, kin_accel) - # Generate and execute move - move = Move(self, newpos, move_d, axes_d, speed, accel) - move.process(0., 0.) - def _move_only_e(self, newpos, axes_d, speed): - self.move_queue.flush() - kin_speed, kin_accel = self.extruder.get_max_speed() - speed = min(speed, self.max_xy_speed, kin_speed) - accel = min(self.max_xy_accel, kin_accel) - move = Move(self, newpos, abs(axes_d[3]), axes_d, speed, accel) - move.process(0., 0.) def move(self, newpos, speed, sloppy=False): axes_d = [newpos[i] - self.commanded_pos[i] for i in (0, 1, 2, 3)] - self.commanded_pos[:] = newpos - if axes_d[2]: - self._move_with_z(newpos, axes_d, speed) + if axes_d == [0., 0., 0., 0.]: + # No move return - move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2) - if not move_d: - if axes_d[3]: - self._move_only_e(newpos, axes_d, speed) - return - # Common xy move - create move and queue it - speed = min(speed, self.max_xy_speed) - move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel) + speed = min(speed, self.max_speed) + move = Move(self, newpos, axes_d, speed, self.max_accel) + self.kin.check_move(move) + if axes_d[3]: + self.extruder.check_move(move) + self.commanded_pos[:] = newpos self.move_queue.add_move(move) def home(self, axes): homing = self.kin.home(self, axes) |