diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 59 |
1 files changed, 28 insertions, 31 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d6f41ef1..e73a2d15 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -14,12 +14,23 @@ EXTRUDE_DIFF_IGNORE = 1.02 # Class to track each move request class Move: - def __init__(self, toolhead, pos, move_d, axes_d, speed, accel): + def __init__(self, toolhead, pos, axes_d, speed, accel): self.toolhead = toolhead self.pos = tuple(pos) - self.move_d = move_d self.axes_d = axes_d self.accel = accel + self.do_calc_junction = True + if axes_d[2]: + # Move with Z + move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) + self.do_calc_junction = False + else: + move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2) + if not move_d: + # Extrude only move + move_d = abs(axes_d[3]) + self.do_calc_junction = False + self.move_d = move_d self.extrude_r = axes_d[3] / move_d # Junction speeds are velocities squared. The junction_delta # is the maximum amount of this squared-velocity that can @@ -27,7 +38,13 @@ class Move: self.junction_max = speed**2 self.junction_delta = 2.0 * move_d * accel self.junction_start_max = 0. + def limit_speed(self, speed, accel): + self.junction_max = min(self.junction_max, speed**2) + self.accel = min(self.accel, accel) + self.junction_delta = 2.0 * self.move_d * self.accel def calc_junction(self, prev_move): + if not self.do_calc_junction or not prev_move.do_calc_junction: + return # Find max junction_start_velocity between two moves if (self.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE or prev_move.extrude_r > self.extrude_r * EXTRUDE_DIFF_IGNORE): @@ -141,7 +158,7 @@ class ToolHead: self.reactor = printer.reactor self.extruder = printer.objects.get('extruder') self.kin = cartesian.CartKinematics(printer, config) - self.max_xy_speed, self.max_xy_accel = self.kin.get_max_xy_speed() + self.max_speed, self.max_accel = self.kin.get_max_speed() self.junction_deviation = config.getfloat('junction_deviation', 0.02) self.move_queue = MoveQueue() self.commanded_pos = [0., 0., 0., 0.] @@ -227,38 +244,18 @@ class ToolHead: self.move_queue.flush() self.commanded_pos[:] = newpos self.kin.set_position(newpos) - def _move_with_z(self, newpos, axes_d, speed): - self.move_queue.flush() - move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) - # Limit velocity and accel to max for each stepper - kin_speed, kin_accel = self.kin.get_max_speed(axes_d, move_d) - speed = min(speed, self.max_xy_speed, kin_speed) - accel = min(self.max_xy_accel, kin_accel) - # Generate and execute move - move = Move(self, newpos, move_d, axes_d, speed, accel) - move.process(0., 0.) - def _move_only_e(self, newpos, axes_d, speed): - self.move_queue.flush() - kin_speed, kin_accel = self.extruder.get_max_speed() - speed = min(speed, self.max_xy_speed, kin_speed) - accel = min(self.max_xy_accel, kin_accel) - move = Move(self, newpos, abs(axes_d[3]), axes_d, speed, accel) - move.process(0., 0.) def move(self, newpos, speed, sloppy=False): axes_d = [newpos[i] - self.commanded_pos[i] for i in (0, 1, 2, 3)] - self.commanded_pos[:] = newpos - if axes_d[2]: - self._move_with_z(newpos, axes_d, speed) + if axes_d == [0., 0., 0., 0.]: + # No move return - move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2) - if not move_d: - if axes_d[3]: - self._move_only_e(newpos, axes_d, speed) - return - # Common xy move - create move and queue it - speed = min(speed, self.max_xy_speed) - move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel) + speed = min(speed, self.max_speed) + move = Move(self, newpos, axes_d, speed, self.max_accel) + self.kin.check_move(move) + if axes_d[3]: + self.extruder.check_move(move) + self.commanded_pos[:] = newpos self.move_queue.add_move(move) def home(self, axes): homing = self.kin.home(self, axes) |