diff options
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 75 |
1 files changed, 36 insertions, 39 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index e49d4c91..fc20ccf8 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -38,6 +38,7 @@ class PrinterExtruder: self.need_motor_enable = True def check_move(self, move): move.extrude_r = move.axes_d[3] / move.move_d + move.extrude_max_corner_v = 0. if not self.heater.can_extrude: raise homing.EndstopMoveError( move.end_pos, "Extrude below minimum temp") @@ -60,30 +61,34 @@ class PrinterExtruder: return 0. move.extrude_r = prev_move.extrude_r return move.max_cruise_v2 - def lookahead(self, move_info, orig_flush_count, lazy): - if not self.pressure_advance: - return orig_flush_count - min_corner_v2 = max_corner_v2 = 0. - flush_count = len(move_info) - for i in range(flush_count-1, -1, -1): - move, start_v2, cruise_v2, end_v2 = move_info[i] - reachable_start_v2 = end_v2 + move.delta_v2 - # Calculate min/max_corner_v2 - the speed the head will - # slow to due to junction cornering and the maximum speed - # the head will reach immediately afterwards. - move.extruder_min_corner_v2 = min_corner_v2 - move.extruder_max_corner_v2 = max_corner_v2 - if reachable_start_v2 > start_v2: - min_corner_v2 = start_v2 - if (start_v2 + move.delta_v2 > end_v2 - or end_v2 >= move_info[i+1][2]): - if lazy and max_corner_v2: - flush_count = i - lazy = False - max_corner_v2 = cruise_v2 - if lazy: - return 0 - return min(flush_count, orig_flush_count) + def lookahead(self, moves, flush_count, lazy): + pressure_advance = self.pressure_advance + if not pressure_advance: + return flush_count + # Calculate max_corner_v - the speed the head will accelerate + # to after cornering. + for i in range(flush_count): + move = moves[i] + if not move.decel_t: + continue + cruise_v = move.cruise_v + max_corner_v = 0. + sum_t = pressure_advance + for j in range(i+1, flush_count): + fmove = moves[j] + if not fmove.max_start_v2: + break + max_corner_v = max(max_corner_v, fmove.cruise_v) + if max_corner_v >= cruise_v: + break + sum_t -= fmove.accel_t + fmove.cruise_t + fmove.decel_t + if sum_t <= 0.: + break + else: + if lazy: + return i + move.extrude_max_corner_v = max_corner_v + return flush_count def move(self, move_time, move): if self.need_motor_enable: self.stepper.motor_enable(move_time, 1) @@ -108,28 +113,20 @@ class PrinterExtruder: 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 - move_extrude_r = move.extrude_r + pressure_advance = self.pressure_advance * move.extrude_r prev_pressure_d = start_pos - move.start_pos[3] - if accel_t: - npd = move.cruise_v * move_extrude_r * self.pressure_advance + if accel_d: + npd = move.cruise_v * pressure_advance extra_accel_d = npd - prev_pressure_d if extra_accel_d > 0.: accel_d += extra_accel_d start_v += extra_accel_d / accel_t prev_pressure_d += extra_accel_d # Update decel and retract parameters when decelerating - if decel_t: - if move.extruder_min_corner_v2: - min_corner_v = math.sqrt(move.extruder_min_corner_v2) - max_corner_v = math.sqrt(move.extruder_max_corner_v2) - npd = max_corner_v*move_extrude_r*self.pressure_advance - extra_decel_d = prev_pressure_d - npd - if move.end_v > min_corner_v: - extra_decel_d *= ((move.cruise_v - move.end_v) - / (move.cruise_v - min_corner_v)) - else: - npd = move.end_v * move_extrude_r * self.pressure_advance - extra_decel_d = prev_pressure_d - npd + emcv = move.extrude_max_corner_v + if decel_d and emcv < move.cruise_v: + npd = max(emcv, move.end_v) * pressure_advance + extra_decel_d = prev_pressure_d - npd if extra_decel_d > 0.: extra_decel_v = extra_decel_d / decel_t decel_v -= extra_decel_v |