diff options
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 83 |
1 files changed, 36 insertions, 47 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index e7f1b40c..fb726fca 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -88,69 +88,58 @@ class PrinterExtruder: # There is still only a decel phase (no retraction) decel_d -= extra_decel_d - # Determine regular steps - forward_d = accel_d + cruise_d + decel_d - end_pos = start_pos + forward_d + # Prepare for steps + stepper_pos = self.stepper_pos 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 * inv_step_dist - step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5 - self.stepper_pos = new_step_pos - sdir = 1 - if steps < 0: - sdir = 0 - steps = -steps - step_offset = 1. - step_offset - mcu_time, so = self.stepper.prep_move(move_time, sdir) + step_dist = self.stepper.step_dist + mcu_time, so = self.stepper.prep_move(move_time) + step_offset = stepper_pos - start_pos * inv_step_dist - move_step_d = forward_d / steps - inv_move_step_d = 1. / move_step_d - - # Acceleration steps + # Acceleration steps + accel_multiplier = 2.0 * step_dist * inv_accel + if accel_d: #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel accel_time_offset = start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 - accel_multiplier = 2.0 * move_step_d * inv_accel - accel_steps = accel_d * inv_move_step_d - step_offset = so.step_sqrt( + accel_steps = accel_d * inv_step_dist + count = so.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) + stepper_pos += count + step_offset += count - accel_steps mcu_time += accel_t - # Cruising steps + # Cruising steps + if cruise_d: #t = pos/cruise_v - cruise_multiplier = move_step_d / cruise_v - cruise_steps = cruise_d * inv_move_step_d - step_offset = so.step_factor( + cruise_multiplier = step_dist / cruise_v + cruise_steps = cruise_d * inv_step_dist + count = so.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) + stepper_pos += count + step_offset += count - cruise_steps mcu_time += cruise_t - # Deceleration steps + # Deceleration steps + if decel_d: #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel) decel_time_offset = decel_v * inv_accel decel_sqrt_offset = decel_time_offset**2 - decel_steps = decel_d * inv_move_step_d - so.step_sqrt( + decel_steps = decel_d * inv_step_dist + count = so.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) - - # Determine retract steps - start_pos = end_pos - 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 * 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( - move_time+accel_t+cruise_t+decel_t, 0) - - move_step_d = retract_d / steps - - # Acceleration steps + stepper_pos += count + step_offset += count - decel_steps + mcu_time += decel_t + # Retraction steps + if retract_d: #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel accel_time_offset = retract_v * inv_accel accel_sqrt_offset = accel_time_offset**2 - accel_multiplier = 2.0 * move_step_d * inv_accel - so.step_sqrt(mcu_time - accel_time_offset, steps, step_offset - , accel_sqrt_offset, accel_multiplier) - self.extrude_pos = end_pos + accel_steps = -retract_d * inv_step_dist + count = so.step_sqrt( + mcu_time - accel_time_offset, accel_steps, step_offset + , accel_sqrt_offset, accel_multiplier) + stepper_pos += count + + self.stepper_pos = stepper_pos + self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d |