diff options
Diffstat (limited to 'klippy/kinematics/extruder.py')
| -rw-r--r-- | klippy/kinematics/extruder.py | 302 |
1 files changed, 195 insertions, 107 deletions
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py index 58ccdbec..25ac394d 100644 --- a/klippy/kinematics/extruder.py +++ b/klippy/kinematics/extruder.py @@ -6,51 +6,75 @@ import math, logging import stepper, chelper + class ExtruderStepper: def __init__(self, config): self.printer = config.get_printer() self.name = config.get_name().split()[-1] - self.pressure_advance = self.pressure_advance_smooth_time = 0. - self.config_pa = config.getfloat('pressure_advance', 0., minval=0.) + self.pressure_advance = self.pressure_advance_smooth_time = 0.0 + self.config_pa = config.getfloat("pressure_advance", 0.0, minval=0.0) self.config_smooth_time = config.getfloat( - 'pressure_advance_smooth_time', 0.040, above=0., maxval=.200) + "pressure_advance_smooth_time", 0.040, above=0.0, maxval=0.200 + ) # Setup stepper self.stepper = stepper.PrinterStepper(config) ffi_main, ffi_lib = chelper.get_ffi() - self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(), - ffi_lib.extruder_stepper_free) + self.sk_extruder = ffi_main.gc( + ffi_lib.extruder_stepper_alloc(), ffi_lib.extruder_stepper_free + ) self.stepper.set_stepper_kinematics(self.sk_extruder) self.motion_queue = None # Register commands - self.printer.register_event_handler("klippy:connect", - self._handle_connect) - gcode = self.printer.lookup_object('gcode') - if self.name == 'extruder': - gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None, - self.cmd_default_SET_PRESSURE_ADVANCE, - desc=self.cmd_SET_PRESSURE_ADVANCE_help) - gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", - self.name, self.cmd_SET_PRESSURE_ADVANCE, - desc=self.cmd_SET_PRESSURE_ADVANCE_help) - gcode.register_mux_command("SET_EXTRUDER_ROTATION_DISTANCE", "EXTRUDER", - self.name, self.cmd_SET_E_ROTATION_DISTANCE, - desc=self.cmd_SET_E_ROTATION_DISTANCE_help) - gcode.register_mux_command("SYNC_EXTRUDER_MOTION", "EXTRUDER", - self.name, self.cmd_SYNC_EXTRUDER_MOTION, - desc=self.cmd_SYNC_EXTRUDER_MOTION_help) + self.printer.register_event_handler("klippy:connect", self._handle_connect) + gcode = self.printer.lookup_object("gcode") + if self.name == "extruder": + gcode.register_mux_command( + "SET_PRESSURE_ADVANCE", + "EXTRUDER", + None, + self.cmd_default_SET_PRESSURE_ADVANCE, + desc=self.cmd_SET_PRESSURE_ADVANCE_help, + ) + gcode.register_mux_command( + "SET_PRESSURE_ADVANCE", + "EXTRUDER", + self.name, + self.cmd_SET_PRESSURE_ADVANCE, + desc=self.cmd_SET_PRESSURE_ADVANCE_help, + ) + gcode.register_mux_command( + "SET_EXTRUDER_ROTATION_DISTANCE", + "EXTRUDER", + self.name, + self.cmd_SET_E_ROTATION_DISTANCE, + desc=self.cmd_SET_E_ROTATION_DISTANCE_help, + ) + gcode.register_mux_command( + "SYNC_EXTRUDER_MOTION", + "EXTRUDER", + self.name, + self.cmd_SYNC_EXTRUDER_MOTION, + desc=self.cmd_SYNC_EXTRUDER_MOTION_help, + ) + def _handle_connect(self): - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") toolhead.register_step_generator(self.stepper.generate_steps) self._set_pressure_advance(self.config_pa, self.config_smooth_time) + def get_status(self, eventtime): - return {'pressure_advance': self.pressure_advance, - 'smooth_time': self.pressure_advance_smooth_time, - 'motion_queue': self.motion_queue} + return { + "pressure_advance": self.pressure_advance, + "smooth_time": self.pressure_advance_smooth_time, + "motion_queue": self.motion_queue, + } + def find_past_position(self, print_time): mcu_pos = self.stepper.get_past_mcu_position(print_time) return self.stepper.mcu_to_commanded_position(mcu_pos) + def sync_to_extruder(self, extruder_name): - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") toolhead.flush_step_generation() if not extruder_name: self.stepper.set_trapq(None) @@ -58,62 +82,72 @@ class ExtruderStepper: return extruder = self.printer.lookup_object(extruder_name, None) if extruder is None or not isinstance(extruder, PrinterExtruder): - raise self.printer.command_error("'%s' is not a valid extruder." - % (extruder_name,)) - self.stepper.set_position([extruder.last_position, 0., 0.]) + raise self.printer.command_error( + "'%s' is not a valid extruder." % (extruder_name,) + ) + self.stepper.set_position([extruder.last_position, 0.0, 0.0]) self.stepper.set_trapq(extruder.get_trapq()) self.motion_queue = extruder_name + def _set_pressure_advance(self, pressure_advance, smooth_time): old_smooth_time = self.pressure_advance_smooth_time if not self.pressure_advance: - old_smooth_time = 0. + old_smooth_time = 0.0 new_smooth_time = smooth_time if not pressure_advance: - new_smooth_time = 0. + new_smooth_time = 0.0 toolhead = self.printer.lookup_object("toolhead") if new_smooth_time != old_smooth_time: toolhead.note_step_generation_scan_time( - new_smooth_time * .5, old_delay=old_smooth_time * .5) + new_smooth_time * 0.5, old_delay=old_smooth_time * 0.5 + ) ffi_main, ffi_lib = chelper.get_ffi() espa = ffi_lib.extruder_set_pressure_advance toolhead.register_lookahead_callback( - lambda print_time: espa(self.sk_extruder, print_time, - pressure_advance, new_smooth_time)) + lambda print_time: espa( + self.sk_extruder, print_time, pressure_advance, new_smooth_time + ) + ) self.pressure_advance = pressure_advance self.pressure_advance_smooth_time = smooth_time + cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters" + def cmd_default_SET_PRESSURE_ADVANCE(self, gcmd): - extruder = self.printer.lookup_object('toolhead').get_extruder() + extruder = self.printer.lookup_object("toolhead").get_extruder() if extruder.extruder_stepper is None: raise gcmd.error("Active extruder does not have a stepper") strapq = extruder.extruder_stepper.stepper.get_trapq() if strapq is not extruder.get_trapq(): raise gcmd.error("Unable to infer active extruder stepper") extruder.extruder_stepper.cmd_SET_PRESSURE_ADVANCE(gcmd) + def cmd_SET_PRESSURE_ADVANCE(self, gcmd): - pressure_advance = gcmd.get_float('ADVANCE', self.pressure_advance, - minval=0.) - smooth_time = gcmd.get_float('SMOOTH_TIME', - self.pressure_advance_smooth_time, - minval=0., maxval=.200) + pressure_advance = gcmd.get_float("ADVANCE", self.pressure_advance, minval=0.0) + smooth_time = gcmd.get_float( + "SMOOTH_TIME", self.pressure_advance_smooth_time, minval=0.0, maxval=0.200 + ) self._set_pressure_advance(pressure_advance, smooth_time) - msg = ("pressure_advance: %.6f\n" - "pressure_advance_smooth_time: %.6f" - % (pressure_advance, smooth_time)) + msg = "pressure_advance: %.6f\n" "pressure_advance_smooth_time: %.6f" % ( + pressure_advance, + smooth_time, + ) self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg)) gcmd.respond_info(msg, log=False) + cmd_SET_E_ROTATION_DISTANCE_help = "Set extruder rotation distance" + def cmd_SET_E_ROTATION_DISTANCE(self, gcmd): - rotation_dist = gcmd.get_float('DISTANCE', None) + rotation_dist = gcmd.get_float("DISTANCE", None) if rotation_dist is not None: if not rotation_dist: raise gcmd.error("Rotation distance can not be zero") invert_dir, orig_invert_dir = self.stepper.get_dir_inverted() next_invert_dir = orig_invert_dir - if rotation_dist < 0.: + if rotation_dist < 0.0: next_invert_dir = not orig_invert_dir rotation_dist = -rotation_dist - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") toolhead.flush_step_generation() self.stepper.set_rotation_distance(rotation_dist) self.stepper.set_dir_inverted(next_invert_dir) @@ -122,48 +156,53 @@ class ExtruderStepper: invert_dir, orig_invert_dir = self.stepper.get_dir_inverted() if invert_dir != orig_invert_dir: rotation_dist = -rotation_dist - gcmd.respond_info("Extruder '%s' rotation distance set to %0.6f" - % (self.name, rotation_dist)) + gcmd.respond_info( + "Extruder '%s' rotation distance set to %0.6f" % (self.name, rotation_dist) + ) + cmd_SYNC_EXTRUDER_MOTION_help = "Set extruder stepper motion queue" + def cmd_SYNC_EXTRUDER_MOTION(self, gcmd): - ename = gcmd.get('MOTION_QUEUE') + ename = gcmd.get("MOTION_QUEUE") self.sync_to_extruder(ename) - gcmd.respond_info("Extruder '%s' now syncing with '%s'" - % (self.name, ename)) + gcmd.respond_info("Extruder '%s' now syncing with '%s'" % (self.name, ename)) + # Tracking for hotend heater, extrusion motion queue, and extruder stepper class PrinterExtruder: def __init__(self, config, extruder_num): self.printer = config.get_printer() self.name = config.get_name() - self.last_position = 0. + self.last_position = 0.0 # Setup hotend heater - pheaters = self.printer.load_object(config, 'heaters') - gcode_id = 'T%d' % (extruder_num,) + pheaters = self.printer.load_object(config, "heaters") + gcode_id = "T%d" % (extruder_num,) self.heater = pheaters.setup_heater(config, gcode_id) # Setup kinematic checks - self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.) + self.nozzle_diameter = config.getfloat("nozzle_diameter", above=0.0) filament_diameter = config.getfloat( - 'filament_diameter', minval=self.nozzle_diameter) - self.filament_area = math.pi * (filament_diameter * .5)**2 - def_max_cross_section = 4. * self.nozzle_diameter**2 + "filament_diameter", minval=self.nozzle_diameter + ) + self.filament_area = math.pi * (filament_diameter * 0.5) ** 2 + def_max_cross_section = 4.0 * self.nozzle_diameter**2 def_max_extrude_ratio = def_max_cross_section / self.filament_area max_cross_section = config.getfloat( - 'max_extrude_cross_section', def_max_cross_section, above=0.) + "max_extrude_cross_section", def_max_cross_section, above=0.0 + ) self.max_extrude_ratio = max_cross_section / self.filament_area logging.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio) - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") max_velocity, max_accel = toolhead.get_max_velocity() self.max_e_velocity = config.getfloat( - 'max_extrude_only_velocity', max_velocity * def_max_extrude_ratio - , above=0.) + "max_extrude_only_velocity", max_velocity * def_max_extrude_ratio, above=0.0 + ) self.max_e_accel = config.getfloat( - 'max_extrude_only_accel', max_accel * def_max_extrude_ratio - , above=0.) - self.max_e_dist = config.getfloat( - 'max_extrude_only_distance', 50., minval=0.) + "max_extrude_only_accel", max_accel * def_max_extrude_ratio, above=0.0 + ) + self.max_e_dist = config.getfloat("max_extrude_only_distance", 50.0, minval=0.0) self.instant_corner_v = config.getfloat( - 'instantaneous_corner_velocity', 1., minval=0.) + "instantaneous_corner_velocity", 1.0, minval=0.0 + ) # Setup extruder trapq (trapezoidal motion queue) ffi_main, ffi_lib = chelper.get_ffi() self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) @@ -171,111 +210,151 @@ class PrinterExtruder: self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves # Setup extruder stepper self.extruder_stepper = None - if (config.get('step_pin', None) is not None - or config.get('dir_pin', None) is not None - or config.get('rotation_distance', None) is not None): + if ( + config.get("step_pin", None) is not None + or config.get("dir_pin", None) is not None + or config.get("rotation_distance", None) is not None + ): self.extruder_stepper = ExtruderStepper(config) self.extruder_stepper.stepper.set_trapq(self.trapq) # Register commands - gcode = self.printer.lookup_object('gcode') - if self.name == 'extruder': - toolhead.set_extruder(self, 0.) + gcode = self.printer.lookup_object("gcode") + if self.name == "extruder": + toolhead.set_extruder(self, 0.0) gcode.register_command("M104", self.cmd_M104) gcode.register_command("M109", self.cmd_M109) - gcode.register_mux_command("ACTIVATE_EXTRUDER", "EXTRUDER", - self.name, self.cmd_ACTIVATE_EXTRUDER, - desc=self.cmd_ACTIVATE_EXTRUDER_help) + gcode.register_mux_command( + "ACTIVATE_EXTRUDER", + "EXTRUDER", + self.name, + self.cmd_ACTIVATE_EXTRUDER, + desc=self.cmd_ACTIVATE_EXTRUDER_help, + ) + def get_status(self, eventtime): sts = self.heater.get_status(eventtime) - sts['can_extrude'] = self.heater.can_extrude + sts["can_extrude"] = self.heater.can_extrude if self.extruder_stepper is not None: sts.update(self.extruder_stepper.get_status(eventtime)) return sts + def get_name(self): return self.name + def get_heater(self): return self.heater + def get_trapq(self): return self.trapq + def get_axis_gcode_id(self): - return 'E' + return "E" + def stats(self, eventtime): return self.heater.stats(eventtime) + def check_move(self, move, ea_index): if not self.heater.can_extrude: raise self.printer.command_error( "Extrude below minimum temp\n" - "See the 'min_extrude_temp' config option for details") + "See the 'min_extrude_temp' config option for details" + ) axis_r = move.axes_r[ea_index] axis_d = move.axes_d[ea_index] - if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.: + if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.0: # Extrude only move (or retraction move) - limit accel and velocity if abs(axis_d) > self.max_e_dist: raise self.printer.command_error( "Extrude only move too long (%.3fmm vs %.3fmm)\n" "See the 'max_extrude_only_distance' config" - " option for details" % (axis_d, self.max_e_dist)) - inv_extrude_r = 1. / abs(axis_r) - move.limit_speed(self.max_e_velocity * inv_extrude_r, - self.max_e_accel * inv_extrude_r) + " option for details" % (axis_d, self.max_e_dist) + ) + inv_extrude_r = 1.0 / abs(axis_r) + move.limit_speed( + self.max_e_velocity * inv_extrude_r, self.max_e_accel * inv_extrude_r + ) elif axis_r > self.max_extrude_ratio: if axis_d <= self.nozzle_diameter * self.max_extrude_ratio: # Permit extrusion if amount extruded is tiny return area = axis_r * self.filament_area - logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)", - axis_r, self.max_extrude_ratio, area, move.move_d) + logging.debug( + "Overextrude: %s vs %s (area=%.3f dist=%.3f)", + axis_r, + self.max_extrude_ratio, + area, + move.move_d, + ) raise self.printer.command_error( "Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n" "See the 'max_extrude_cross_section' config option for details" - % (area, self.max_extrude_ratio * self.filament_area)) + % (area, self.max_extrude_ratio * self.filament_area) + ) + def calc_junction(self, prev_move, move, ea_index): diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index] if diff_r: - return (self.instant_corner_v / abs(diff_r))**2 + return (self.instant_corner_v / abs(diff_r)) ** 2 return move.max_cruise_v2 + def process_move(self, print_time, move, ea_index): axis_r = move.axes_r[ea_index] accel = move.accel * axis_r start_v = move.start_v * axis_r cruise_v = move.cruise_v * axis_r can_pressure_advance = False - if axis_r > 0. and (move.axes_d[0] or move.axes_d[1]): + if axis_r > 0.0 and (move.axes_d[0] or move.axes_d[1]): can_pressure_advance = True # Queue movement (x is extruder movement, y is pressure advance flag) - self.trapq_append(self.trapq, print_time, - move.accel_t, move.cruise_t, move.decel_t, - move.start_pos[ea_index], 0., 0., - 1., can_pressure_advance, 0., - start_v, cruise_v, accel) + self.trapq_append( + self.trapq, + print_time, + move.accel_t, + move.cruise_t, + move.decel_t, + move.start_pos[ea_index], + 0.0, + 0.0, + 1.0, + can_pressure_advance, + 0.0, + start_v, + cruise_v, + accel, + ) self.last_position = move.end_pos[ea_index] + def find_past_position(self, print_time): if self.extruder_stepper is None: - return 0. + return 0.0 return self.extruder_stepper.find_past_position(print_time) + def cmd_M104(self, gcmd, wait=False): # Set Extruder Temperature - temp = gcmd.get_float('S', 0.) - index = gcmd.get_int('T', None, minval=0) + temp = gcmd.get_float("S", 0.0) + index = gcmd.get_int("T", None, minval=0) if index is not None: - section = 'extruder' + section = "extruder" if index: - section = 'extruder%d' % (index,) + section = "extruder%d" % (index,) extruder = self.printer.lookup_object(section, None) if extruder is None: - if temp <= 0.: + if temp <= 0.0: return raise gcmd.error("Extruder not configured") else: - extruder = self.printer.lookup_object('toolhead').get_extruder() - pheaters = self.printer.lookup_object('heaters') + extruder = self.printer.lookup_object("toolhead").get_extruder() + pheaters = self.printer.lookup_object("heaters") pheaters.set_temperature(extruder.get_heater(), temp, wait) + def cmd_M109(self, gcmd): # Set Extruder Temperature and Wait self.cmd_M104(gcmd, wait=True) + cmd_ACTIVATE_EXTRUDER_help = "Change the active extruder" + def cmd_ACTIVATE_EXTRUDER(self, gcmd): - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") if toolhead.get_extruder() is self: gcmd.respond_info("Extruder %s already active" % (self.name,)) return @@ -284,31 +363,40 @@ class PrinterExtruder: toolhead.set_extruder(self, self.last_position) self.printer.send_event("extruder:activate_extruder") + # Dummy extruder class used when a printer has no extruder at all class DummyExtruder: def __init__(self, printer): self.printer = printer + def check_move(self, move, ea_index): raise move.move_error("Extrude when no extruder present") + def find_past_position(self, print_time): - return 0. + return 0.0 + def calc_junction(self, prev_move, move, ea_index): return move.max_cruise_v2 + def get_name(self): return "" + def get_heater(self): raise self.printer.command_error("Extruder not configured") + def get_trapq(self): return None + def get_axis_gcode_id(self): - return 'E' + return "E" + def add_printer_objects(config): printer = config.get_printer() for i in range(99): - section = 'extruder' + section = "extruder" if i: - section = 'extruder%d' % (i,) + section = "extruder%d" % (i,) if not config.has_section(section): break pe = PrinterExtruder(config.getsection(section), i) |