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Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 62 |
1 files changed, 62 insertions, 0 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py new file mode 100644 index 00000000..67ee13ed --- /dev/null +++ b/klippy/extruder.py @@ -0,0 +1,62 @@ +# Code for handling printer nozzle extruders +# +# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import logging +import stepper, heater + +class PrinterExtruder: + def __init__(self, printer, config): + cfg = config.getsection('extruder') + self.heater = heater.PrinterHeater(printer, cfg) + self.stepper = stepper.PrinterStepper(printer, cfg) + self.stepper_pos = 0 + def build_config(self): + self.heater.build_config() + self.stepper.build_config() + def get_max_speed(self): + return self.stepper.max_velocity, self.stepper.max_accel + def motor_off(self, move_time): + self.stepper.motor_enable(move_time, 0) + def move(self, move_time, move): + inv_accel = 1. / move.accel + new_step_pos = int(move.pos[3]*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) + + step_dist = move.move_d / steps + step_offset = 0.5 + + # 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) |