diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 66 |
1 files changed, 47 insertions, 19 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 93c87331..f835977c 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -21,14 +21,14 @@ class Move: self.timing_callbacks = [] velocity = min(speed, toolhead.max_velocity) self.is_kinematic_move = True - self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)] + self.axes_d = axes_d = [ep - sp for sp, ep in zip(start_pos, end_pos)] self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) if move_d < .000000001: # Extrude only move - self.end_pos = (start_pos[0], start_pos[1], start_pos[2], - end_pos[3]) + self.end_pos = ((start_pos[0], start_pos[1], start_pos[2]) + + self.end_pos[3:]) axes_d[0] = axes_d[1] = axes_d[2] = 0. - self.move_d = move_d = abs(axes_d[3]) + self.move_d = move_d = max([abs(ad) for ad in axes_d[3:]]) inv_move_d = 0. if move_d: inv_move_d = 1. / move_d @@ -65,11 +65,13 @@ class Move: def calc_junction(self, prev_move): if not self.is_kinematic_move or not prev_move.is_kinematic_move: return - # Allow extruder to calculate its maximum junction - extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self) - max_start_v2 = min(extruder_v2, self.max_cruise_v2, - prev_move.max_cruise_v2, prev_move.next_junction_v2, - prev_move.max_start_v2 + prev_move.delta_v2) + # Allow extra axes to calculate maximum junction + ea_v2 = [ea.calc_junction(prev_move, self, e_index+3) + for e_index, ea in enumerate(self.toolhead.extra_axes)] + max_start_v2 = min([self.max_cruise_v2, + prev_move.max_cruise_v2, prev_move.next_junction_v2, + prev_move.max_start_v2 + prev_move.delta_v2] + + ea_v2) # Find max velocity using "approximated centripetal velocity" axes_r = self.axes_r prev_axes_r = prev_move.axes_r @@ -263,7 +265,8 @@ class ToolHead: # Create kinematics class gcode = self.printer.lookup_object('gcode') self.Coord = gcode.Coord - self.extruder = kinematics.extruder.DummyExtruder(self.printer) + extruder = kinematics.extruder.DummyExtruder(self.printer) + self.extra_axes = [extruder] kin_name = config.get('kinematics') try: mod = importlib.import_module('kinematics.' + kin_name) @@ -351,8 +354,9 @@ class ToolHead: move.start_pos[0], move.start_pos[1], move.start_pos[2], move.axes_r[0], move.axes_r[1], move.axes_r[2], move.start_v, move.cruise_v, move.accel) - if move.axes_d[3]: - self.extruder.process_move(next_move_time, move) + for e_index, ea in enumerate(self.extra_axes): + if move.axes_d[e_index + 3]: + ea.process_move(next_move_time, move, e_index + 3) next_move_time = (next_move_time + move.accel_t + move.cruise_t + move.decel_t) for cb in move.timing_callbacks: @@ -472,8 +476,9 @@ class ToolHead: return if move.is_kinematic_move: self.kin.check_move(move) - if move.axes_d[3]: - self.extruder.check_move(move) + for e_index, ea in enumerate(self.extra_axes): + if move.axes_d[e_index + 3]: + ea.check_move(move, e_index + 3) self.commanded_pos[:] = move.end_pos want_flush = self.lookahead.add_move(move) if want_flush: @@ -500,16 +505,38 @@ class ToolHead: break eventtime = self.reactor.pause(eventtime + 0.100) def set_extruder(self, extruder, extrude_pos): - prev_ea_trapq = self.extruder.get_trapq() + # XXX - should use add_extra_axis + prev_ea_trapq = self.extra_axes[0].get_trapq() if prev_ea_trapq in self.flush_trapqs: self.flush_trapqs.remove(prev_ea_trapq) - self.extruder = extruder + self.extra_axes[0] = extruder self.commanded_pos[3] = extrude_pos ea_trapq = extruder.get_trapq() if ea_trapq is not None: self.flush_trapqs.append(ea_trapq) def get_extruder(self): - return self.extruder + return self.extra_axes[0] + def add_extra_axis(self, ea, axis_pos): + self._flush_lookahead() + self.extra_axes.append(ea) + self.commanded_pos.append(axis_pos) + ea_trapq = ea.get_trapq() + if ea_trapq is not None: + self.flush_trapqs.append(ea_trapq) + self.printer.send_event("toolhead:update_extra_axes") + def remove_extra_axis(self, ea): + self._flush_lookahead() + if ea not in self.extra_axes: + return + ea_index = self.extra_axes.index(ea) + 3 + ea_trapq = ea.get_trapq() + if ea_trapq in self.flush_trapqs: + self.flush_trapqs.remove(ea_trapq) + self.commanded_pos.pop(ea_index) + self.extra_axes.pop(ea_index - 3) + self.printer.send_event("toolhead:update_extra_axes") + def get_extra_axes(self): + return [None, None, None] + self.extra_axes # Homing "drip move" handling def drip_update_time(self, next_print_time, drip_completion, addstepper=()): # Transition from "NeedPrime"/"Priming"/main state to "Drip" state @@ -593,12 +620,13 @@ class ToolHead: def get_status(self, eventtime): print_time = self.print_time estimated_print_time = self.mcu.estimated_print_time(eventtime) + extruder = self.extra_axes[0] res = dict(self.kin.get_status(eventtime)) res.update({ 'print_time': print_time, 'stalls': self.print_stall, 'estimated_print_time': estimated_print_time, - 'extruder': self.extruder.get_name(), - 'position': self.Coord(*self.commanded_pos), + 'extruder': extruder.get_name(), + 'position': self.Coord(*self.commanded_pos[:4]), 'max_velocity': self.max_velocity, 'max_accel': self.max_accel, 'minimum_cruise_ratio': self.min_cruise_ratio, |