diff options
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 53 |
1 files changed, 30 insertions, 23 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index ad439421..4abbb7dd 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -44,38 +44,45 @@ class PrinterExtruder: decel_v = cruise_v # Update for pressure advance + start_pos = self.extrude_pos 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 - accel_d += extra_accel_d + move_extrude_r = move.extrude_r + prev_pressure_d = start_pos - move.start_pos[3] if accel_t: - start_v += extra_accel_d / accel_t + npd = move.cruise_v * move_extrude_r * self.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: - 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.: - # The entire decel phase is replaced with retraction - 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.: - # Split decel phase into decel and retraction - 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: - # There is still only a decel phase (no retraction) - decel_d -= extra_decel_d + npd = move.end_v * move_extrude_r * self.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 + end_v -= extra_decel_v + if decel_v <= 0.: + # The entire decel phase is replaced with retraction + 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.: + # Split decel phase into decel and retraction + 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: + # 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 - start_pos = self.extrude_pos 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) |