diff options
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 26 |
1 files changed, 16 insertions, 10 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index 181fd57c..198a89ed 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -73,20 +73,23 @@ class PrinterExtruder: # 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 steps: + start_pos = self.extrude_pos + end_pos = start_pos + forward_d * extrude_r + 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 + step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5 self.stepper_pos = new_step_pos sdir = 0 if steps < 0: sdir = 1 steps = -steps + step_offset = 1. - step_offset mcu_time, so = self.stepper.prep_move(move_time, sdir) move_step_d = forward_d / steps inv_move_step_d = 1. / move_step_d - step_offset = 0.5 # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel @@ -115,10 +118,12 @@ class PrinterExtruder: , 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: + start_pos = end_pos + end_pos -= retract_d * extrude_r + 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 + 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, 1) @@ -130,5 +135,6 @@ class PrinterExtruder: 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, 0.5 + so.step_sqrt(mcu_time - accel_time_offset, steps, step_offset , accel_sqrt_offset, accel_multiplier) + self.extrude_pos = end_pos |