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-rw-r--r--klippy/cartesian.py13
-rw-r--r--klippy/corexy.py13
-rw-r--r--klippy/delta.py20
-rw-r--r--klippy/extruder.py17
-rw-r--r--klippy/klippy.py4
-rw-r--r--klippy/toolhead.py31
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))
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 16:07:51 +0000