diff options
| -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( |