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Add tests for vibration limiting and fix implementation. Also includes a fix in set_shift()

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This commit is contained in:
Alessandro Ranellucci 2012-12-09 18:33:25 +01:00
parent c82be18d6d
commit 1a3497b71d
4 changed files with 136 additions and 42 deletions
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65
lib/Slic3r/GCode.pm
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@ -1,7 +1,7 @@
package Slic3r::GCode;
use Moo;
use List::Util qw(min max first);
use List::Util qw(max first);
use Slic3r::ExtrusionPath ':roles';
use Slic3r::Geometry qw(scale unscale scaled_epsilon points_coincide PI X Y B);
@ -20,14 +20,12 @@ has 'lifted' => (is => 'rw', default => sub {0} );
has 'last_pos' => (is => 'rw', default => sub { Slic3r::Point->new(0,0) } );
has 'last_speed' => (is => 'rw', default => sub {""});
has 'last_f' => (is => 'rw', default => sub {""});
has 'force_f' => (is => 'rw', default => sub {0});
has 'last_fan_speed' => (is => 'rw', default => sub {0});
has 'dec' => (is => 'ro', default => sub { 3 } );
# used for vibration limit:
has 'limit_frequency' => (is => 'rw', default => sub { 0 });
has 'last_dir' => (is => 'ro', default => sub { [0,0] });
has 'segment_time' => (is => 'ro', default => sub { [ [0,0,0], [0,0,0] ] });
has 'dir_time' => (is => 'ro', default => sub { [0,0] });
# calculate speeds (mm/min)
has 'speeds' => (
@ -57,10 +55,13 @@ sub set_shift {
my $self = shift;
my @shift = @_;
$self->last_pos->translate(
scale ($shift[X] - $self->shift_x),
scale ($shift[Y] - $self->shift_y),
);
$self->shift_x($shift[X]);
$self->shift_y($shift[Y]);
$self->last_pos->translate(map -(scale $_), @shift);
}
# this method accepts Z in scaled coordinates
@ -174,8 +175,6 @@ sub extrude_path {
}
}
$self->limit_frequency($path->role != EXTR_ROLE_PERIMETER && $path->role != EXTR_ROLE_EXTERNAL_PERIMETER && $path->role != EXTR_ROLE_CONTOUR_INTERNAL_PERIMETER);
# go to first point of extrusion path
$self->speed('travel');
$gcode .= $self->G0($path->points->[0], undef, 0, "move to first $description point")
@ -338,14 +337,11 @@ sub _G0_G1 {
my ($gcode, $point, $z, $e, $comment) = @_;
my $dec = $self->dec;
my $speed_factor;
if ($point) {
$gcode .= sprintf " X%.${dec}f Y%.${dec}f",
($point->x * &Slic3r::SCALING_FACTOR) + $self->shift_x - $self->extruder->extruder_offset->[X],
($point->y * &Slic3r::SCALING_FACTOR) + $self->shift_y - $self->extruder->extruder_offset->[Y]; #**
if ($self->limit_frequency) {
$gcode = $self->_limit_frequency($point) . $gcode;
}
$gcode = $self->_limit_frequency($point) . $gcode;
$self->last_pos($point->clone);
}
if (defined $z && (!defined $self->z || $z != $self->z)) {
@ -353,7 +349,7 @@ sub _G0_G1 {
$gcode .= sprintf " Z%.${dec}f", $z;
}
return $self->_Gx($gcode, $e, $speed_factor, $comment);
return $self->_Gx($gcode, $e, $comment);
}
sub G2_G3 {
@ -373,12 +369,12 @@ sub G2_G3 {
($center->[Y] - $self->last_pos->[Y]) * &Slic3r::SCALING_FACTOR;
$self->last_pos($point);
return $self->_Gx($gcode, $e, undef, $comment);
return $self->_Gx($gcode, $e, $comment);
}
sub _Gx {
my $self = shift;
my ($gcode, $e, $speed_factor, $comment) = @_;
my ($gcode, $e, $comment) = @_;
my $dec = $self->dec;
# output speed if it's different from last one used
@ -403,13 +399,6 @@ sub _Gx {
}
$self->last_speed($self->speed);
$self->last_f($F);
$F *= $speed_factor // 1;
} elsif (defined $speed_factor && $speed_factor != 1) {
$gcode .= sprintf " F%.${dec}f", ($self->last_f * $speed_factor);
$self->force_f(1); # next move will need explicit F
} elsif ($self->force_f) {
$gcode .= sprintf " F%.${dec}f", $self->last_f;
$self->force_f(0);
}
$gcode .= sprintf " F%.${dec}f", $F if defined $F;
@ -509,7 +498,6 @@ sub set_bed_temperature {
}
# http://hydraraptor.blogspot.it/2010/12/frequency-limit.html
# the following implementation is inspired by Marlin code
sub _limit_frequency {
my $self = shift;
my ($point) = @_;
@ -518,25 +506,28 @@ sub _limit_frequency {
my $min_time = 1 / ($Slic3r::Config->vibration_limit * 60); # in minutes
# calculate the move vector and move direction
my @move = map unscale $_, @{ Slic3r::Line->new($self->last_pos, $point)->vector->[B] };
my @dir = map { $move[$_] ? (($move[$_] > 0) ? 1 : -1) : 0 } X,Y;
my $vector = Slic3r::Line->new($self->last_pos, $point)->vector;
my @dir = map { $vector->[B][$_] <=> 0 } X,Y;
my $segment_time = abs(max(@move)) / $self->speeds->{$self->speed}; # in minutes
if ($segment_time > 0) {
my @max_segment_time = ();
my $time = (unscale $vector->length) / $self->speeds->{$self->speed}; # in minutes
if ($time > 0) {
my @pause = ();
foreach my $axis (X,Y) {
if ($self->last_dir->[$axis] == $dir[$axis]) {
$self->segment_time->[$axis][0] += $segment_time;
} else {
@{ $self->segment_time->[$axis] } = ($segment_time, @{ $self->segment_time->[$axis] }[0,1]);
if ($dir[$axis] != 0 && $self->last_dir->[$axis] != $dir[$axis]) {
if ($self->last_dir->[$axis] != 0) {
# this axis is changing direction: check whether we need to pause
if ($self->dir_time->[$axis] < $min_time) {
push @pause, ($min_time - $self->dir_time->[$axis]);
}
}
$self->last_dir->[$axis] = $dir[$axis];
$self->dir_time->[$axis] = 0;
}
$max_segment_time[$axis] = max($self->segment_time->[$axis][0], max($self->segment_time->[$axis][1], $self->segment_time->[$axis][2]));
$self->last_dir->[$axis] = $dir[$axis] if $dir[$axis];
$self->dir_time->[$axis] += $time;
}
my $min_segment_time = min(@max_segment_time);
if ($min_segment_time < $min_time) {
return sprintf "G4 P%d\n", ($min_time - $min_segment_time) * 60 * 1000;
if (@pause) {
return sprintf "G4 P%d\n", max(@pause) * 60 * 1000;
}
}