diff options
| -rw-r--r-- | config/example.cfg | 5 | ||||
| -rw-r--r-- | config/makergear-m2-2012.cfg | 7 | ||||
| -rw-r--r-- | klippy/extruder.py | 136 |
3 files changed, 109 insertions, 39 deletions
diff --git a/config/example.cfg b/config/example.cfg index d0b5eca8..b458e8b4 100644 --- a/config/example.cfg +++ b/config/example.cfg @@ -90,6 +90,11 @@ step_distance: .004242 max_velocity: 200000 max_accel: 3000 # The remaining variables describe the extruder heater +pressure_advance: 0.0 +# The amount of raw filament to push into the extruder during +# extruder acceleration. An equal amount of filament is retracted +# during deceleration. It is measured in millimeters per +# millimeter/second heater_pin: ar4 # PWM output pin controlling the heater thermistor_pin: analog1 diff --git a/config/makergear-m2-2012.cfg b/config/makergear-m2-2012.cfg index 85a07683..1721cac7 100644 --- a/config/makergear-m2-2012.cfg +++ b/config/makergear-m2-2012.cfg @@ -1,7 +1,7 @@ # Support for Makergear M2 printers circa 2012 that have the RAMBo -# v1.0d electronics. The electronics use Allegro A4984 stepper -# drivers with 1/8th micro-stepping. To use this config, the firmware -# should be compiled for the AVR atmega2560. +# v1.0d electronics along with the V3A extruder. The electronics use +# Allegro A4984 stepper drivers with 1/8th micro-stepping. To use +# this config, the firmware should be compiled for the AVR atmega2560. [stepper_x] step_pin: PC0 @@ -50,6 +50,7 @@ enable_pin: !PA4 step_distance: .004242 max_velocity: 200000 max_accel: 3000 +pressure_advance: 0.07 heater_pin: PH6 thermistor_pin: PF0 thermistor_type: EPCOS 100K B57560G104F diff --git a/klippy/extruder.py b/klippy/extruder.py index 25655dc9..42faa1a1 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -11,7 +11,9 @@ class PrinterExtruder: cfg = config.getsection('extruder') self.heater = heater.PrinterHeater(printer, cfg) self.stepper = stepper.PrinterStepper(printer, cfg) + self.pressure_advance = config.getfloat('pressure_advance', 0.) self.stepper_pos = 0 + self.extrude_pos = 0. def build_config(self): self.heater.build_config() self.stepper.set_max_jerk(9999999.9) @@ -21,43 +23,105 @@ class PrinterExtruder: def motor_off(self, move_time): self.stepper.motor_enable(move_time, 0) def move(self, move_time, move): + move_d = move.move_d inv_accel = 1. / move.accel - new_step_pos = int(move.pos[3]*self.stepper.inv_step_dist + 0.5) + + start_v, cruise_v, end_v = move.start_v, move.cruise_v, move.end_v + 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 + + 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]) + and self.pressure_advance): + # Increase accel_d and start_v when accelerating + extra_accel_d = (cruise_v - start_v) * self.pressure_advance + accel_d += extra_accel_d + if accel_t: + start_v += extra_accel_d / accel_t + # Update decel and retract parameters when decelerating + if decel_t: + extra_decel_d = (cruise_v - end_v) * self.pressure_advance + extra_decel_v = extra_decel_d / decel_t + decel_v -= extra_decel_v + end_v -= extra_decel_v + if decel_v <= 0.: + retract_t = decel_t + retract_d = -(end_v + decel_v) * 0.5 * decel_t + retract_v = -decel_v + decel_t = decel_d = 0. + elif end_v < 0.: + retract_t = -end_v * inv_accel + retract_d = -end_v * 0.5 * retract_t + decel_t -= retract_t + decel_d = decel_v * 0.5 * decel_t + else: + decel_d -= extra_decel_d + + # Determine regular steps + extrude_r = move.axes_d[3] / move_d + forward_d = accel_d + cruise_d + decel_d + self.extrude_pos += forward_d * extrude_r + new_step_pos = int(self.extrude_pos*self.stepper.inv_step_dist + 0.5) steps = new_step_pos - self.stepper_pos - if not steps: - return - self.stepper_pos = new_step_pos - sdir = 0 - if steps < 0: - sdir = 1 - steps = -steps - clock_offset, clock_freq, so = self.stepper.prep_move(sdir, move_time) + if steps: + self.stepper_pos = new_step_pos + sdir = 0 + if steps < 0: + sdir = 1 + steps = -steps + clock_offset, clock_freq, so = self.stepper.prep_move( + sdir, move_time) + + step_dist = forward_d / steps + inv_step_dist = 1. / step_dist + step_offset = 0.5 + + # Acceleration steps + #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel + accel_clock_offset = start_v * inv_accel * clock_freq + accel_sqrt_offset = accel_clock_offset**2 + accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2 + accel_steps = accel_d * inv_step_dist + step_offset = so.step_sqrt( + accel_steps, step_offset, clock_offset - accel_clock_offset + , accel_sqrt_offset, accel_multiplier) + clock_offset += accel_t * clock_freq + # Cruising steps + #t = pos/cruise_v + cruise_multiplier = step_dist * clock_freq / cruise_v + cruise_steps = cruise_d * inv_step_dist + step_offset = so.step_factor( + cruise_steps, step_offset, clock_offset, cruise_multiplier) + clock_offset += cruise_t * clock_freq + # Deceleration steps + #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel) + decel_clock_offset = decel_v * inv_accel * clock_freq + decel_sqrt_offset = decel_clock_offset**2 + decel_steps = decel_d * inv_step_dist + so.step_sqrt( + decel_steps, step_offset, clock_offset + decel_clock_offset + , decel_sqrt_offset, -accel_multiplier) + + # Determine retract steps + self.extrude_pos -= retract_d * extrude_r + new_step_pos = int(self.extrude_pos*self.stepper.inv_step_dist + 0.5) + steps = self.stepper_pos - new_step_pos + if steps: + self.stepper_pos = new_step_pos + clock_offset, clock_freq, so = self.stepper.prep_move( + 1, move_time+accel_t+cruise_t+decel_t) - step_dist = move.move_d / steps - step_offset = 0.5 + step_dist = retract_d / steps - # Acceleration steps - #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel - accel_clock_offset = move.start_v * inv_accel * clock_freq - accel_sqrt_offset = accel_clock_offset**2 - accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2 - accel_steps = move.accel_r * steps - step_offset = so.step_sqrt( - accel_steps, step_offset, clock_offset - accel_clock_offset - , accel_sqrt_offset, accel_multiplier) - clock_offset += move.accel_t * clock_freq - # Cruising steps - #t = pos/cruise_v - cruise_multiplier = step_dist * clock_freq / move.cruise_v - cruise_steps = move.cruise_r * steps - step_offset = so.step_factor( - cruise_steps, step_offset, clock_offset, cruise_multiplier) - clock_offset += move.cruise_t * clock_freq - # Deceleration steps - #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel) - decel_clock_offset = move.cruise_v * inv_accel * clock_freq - decel_sqrt_offset = decel_clock_offset**2 - decel_steps = move.decel_r * steps - so.step_sqrt( - decel_steps, step_offset, clock_offset + decel_clock_offset - , decel_sqrt_offset, -accel_multiplier) + # Acceleration steps + #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel + accel_clock_offset = retract_v * inv_accel * clock_freq + accel_sqrt_offset = accel_clock_offset**2 + accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2 + so.step_sqrt(steps, 0.5, clock_offset - accel_clock_offset + , accel_sqrt_offset, accel_multiplier) |