diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/kinematics/extruder.py | 35 |
1 files changed, 13 insertions, 22 deletions
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py index faf90206..a5bef0db 100644 --- a/klippy/kinematics/extruder.py +++ b/klippy/kinematics/extruder.py @@ -6,8 +6,6 @@ import math, logging import stepper, homing, chelper -EXTRUDE_DIFF_IGNORE = 1.02 - class PrinterExtruder: def __init__(self, config, extruder_num): self.printer = config.get_printer() @@ -41,6 +39,8 @@ class PrinterExtruder: self.stepper.set_max_jerk(9999999.9, 9999999.9) self.max_e_dist = config.getfloat( 'max_extrude_only_distance', 50., minval=0.) + self.instant_corner_v = config.getfloat( + 'instantaneous_corner_velocity', 1., minval=0.) gcode_macro = self.printer.try_load_module(config, 'gcode_macro') self.activate_gcode = gcode_macro.load_template( config, 'activate_gcode', '') @@ -104,45 +104,36 @@ class PrinterExtruder: def stats(self, eventtime): return self.heater.stats(eventtime) def check_move(self, move): - move.extrude_r = move.axes_r[3] + axis_r = move.axes_r[3] if not self.heater.can_extrude: raise homing.EndstopError( "Extrude below minimum temp\n" "See the 'min_extrude_temp' config option for details") - if (not move.axes_d[0] and not move.axes_d[1]) or move.extrude_r < 0.: + if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.: # Extrude only move (or retraction move) - limit accel and velocity if abs(move.axes_d[3]) > self.max_e_dist: raise homing.EndstopError( "Extrude only move too long (%.3fmm vs %.3fmm)\n" "See the 'max_extrude_only_distance' config" " option for details" % (move.axes_d[3], self.max_e_dist)) - inv_extrude_r = 1. / abs(move.extrude_r) - move.limit_speed(self.max_e_velocity * inv_extrude_r - , self.max_e_accel * inv_extrude_r) - elif move.extrude_r > self.max_extrude_ratio: + inv_extrude_r = 1. / 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 move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio: # Permit extrusion if amount extruded is tiny return - area = move.axes_r[3] * self.filament_area + area = axis_r * self.filament_area logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)", - move.extrude_r, self.max_extrude_ratio, - area, move.move_d) + axis_r, self.max_extrude_ratio, area, move.move_d) raise homing.EndstopError( "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)) def calc_junction(self, prev_move, move): - extrude = move.axes_d[3] - prev_extrude = prev_move.axes_d[3] - if extrude or prev_extrude: - if not extrude or not prev_extrude: - # Extrude move to non-extrude move - disable lookahead - return 0. - if ((move.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE - or prev_move.extrude_r > move.extrude_r * EXTRUDE_DIFF_IGNORE) - and abs(move.move_d * prev_move.extrude_r - extrude) >= .001): - # Extrude ratio between moves is too different - return 0. + diff_r = move.axes_r[3] - prev_move.axes_r[3] + if diff_r: + return (self.instant_corner_v / abs(diff_r))**2 return move.max_cruise_v2 def lookahead(self, moves, flush_count, lazy): return flush_count |