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Jerk - per axis maximum limit (#6252)

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* Jerk - per axis maximum limit

* Fixing Klipper and refactoring

* Remove unused variables
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Vovodroid 2024-08-07 17:41:09 +03:00 • committed by GitHub
parent 98a243c302
commit a4cfc14a7e
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GPG key ID: B5690EEEBB952194
2 changed files with 30 additions and 14 deletions
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37
src/libslic3r/GCodeWriter.cpp
View file

@ -34,8 +34,10 @@ void GCodeWriter::apply_print_config(const PrintConfig &print_config)
std::round((use_mach_limits && supports_separate_travel_acceleration(print_config.gcode_flavor.value)) ? std::round((use_mach_limits && supports_separate_travel_acceleration(print_config.gcode_flavor.value)) ?
print_config.machine_max_acceleration_travel.values.front() : print_config.machine_max_acceleration_travel.values.front() :
0)); 0));
m_max_jerk = std::lrint( if (use_mach_limits) {
use_mach_limits ? std::min(print_config.machine_max_jerk_x.values.front(), print_config.machine_max_jerk_y.values.front()) : 0); m_max_jerk_x = std::lrint(print_config.machine_max_jerk_x.values.front());
m_max_jerk_y = std::lrint(print_config.machine_max_jerk_y.values.front());
};
m_max_jerk_z = print_config.machine_max_jerk_z.values.front(); m_max_jerk_z = print_config.machine_max_jerk_z.values.front();
m_max_jerk_e = print_config.machine_max_jerk_e.values.front(); m_max_jerk_e = print_config.machine_max_jerk_e.values.front();
} }
@ -230,20 +232,31 @@ std::string GCodeWriter::set_acceleration_internal(Acceleration type, unsigned i
std::string GCodeWriter::set_jerk_xy(double jerk) std::string GCodeWriter::set_jerk_xy(double jerk)
{ {
// Clamp the jerk to the allowed maximum.
if (m_max_jerk > 0 && jerk > m_max_jerk)
jerk = m_max_jerk;
if (jerk < 0.01 || is_approx(jerk, m_last_jerk)) if (jerk < 0.01 || is_approx(jerk, m_last_jerk))
return std::string(); return std::string();
m_last_jerk = jerk; m_last_jerk = jerk;
std::ostringstream gcode; std::ostringstream gcode;
if(FLAVOR_IS(gcfKlipper)) if (FLAVOR_IS(gcfKlipper)) {
// Clamp the jerk to the allowed maximum.
if (m_max_jerk_x > 0 && jerk > m_max_jerk_x)
jerk = m_max_jerk_x;
if (m_max_jerk_y > 0 && jerk > m_max_jerk_y)
jerk = m_max_jerk_y;
gcode << "SET_VELOCITY_LIMIT SQUARE_CORNER_VELOCITY=" << jerk; gcode << "SET_VELOCITY_LIMIT SQUARE_CORNER_VELOCITY=" << jerk;
else } else {
gcode << "M205 X" << jerk << " Y" << jerk; double jerk_x = jerk;
double jerk_y = jerk;
// Clamp the axis jerk to the allowed maximum.
if (m_max_jerk_x > 0 && jerk > m_max_jerk_x)
jerk_x = m_max_jerk_x;
if (m_max_jerk_y > 0 && jerk > m_max_jerk_y)
jerk_y = m_max_jerk_y;
gcode << "M205 X" << jerk_x << " Y" << jerk_y;
}
if (m_is_bbl_printers) if (m_is_bbl_printers)
gcode << std::setprecision(2) << " Z" << m_max_jerk_z << " E" << m_max_jerk_e; gcode << std::setprecision(2) << " Z" << m_max_jerk_z << " E" << m_max_jerk_e;
@ -277,8 +290,10 @@ std::string GCodeWriter::set_accel_and_jerk(unsigned int acceleration, double je
is_empty = false; is_empty = false;
} }
// Clamp the jerk to the allowed maximum. // Clamp the jerk to the allowed maximum.
if (m_max_jerk > 0 && jerk > m_max_jerk) if (m_max_jerk_x > 0 && jerk > m_max_jerk_x)
jerk = m_max_jerk; jerk = m_max_jerk_x;
if (m_max_jerk_y > 0 && jerk > m_max_jerk_y)
jerk = m_max_jerk_y;
if (jerk > 0.01 && !is_approx(jerk, m_last_jerk)) { if (jerk > 0.01 && !is_approx(jerk, m_last_jerk)) {
gcode << " SQUARE_CORNER_VELOCITY=" << jerk; gcode << " SQUARE_CORNER_VELOCITY=" << jerk;

5
src/libslic3r/GCodeWriter.hpp
View file

@ -20,7 +20,7 @@ public:
multiple_extruders(false), m_extruder(nullptr), multiple_extruders(false), m_extruder(nullptr),
m_single_extruder_multi_material(false), m_single_extruder_multi_material(false),
m_last_acceleration(0), m_max_acceleration(0),m_last_travel_acceleration(0), m_max_travel_acceleration(0), m_last_acceleration(0), m_max_acceleration(0),m_last_travel_acceleration(0), m_max_travel_acceleration(0),
m_last_jerk(0), m_max_jerk(0), m_last_jerk(0), m_max_jerk_x(0), m_max_jerk_y(0),
m_last_bed_temperature(0), m_last_bed_temperature_reached(true), m_last_bed_temperature(0), m_last_bed_temperature_reached(true),
m_lifted(0), m_lifted(0),
m_to_lift(0), m_to_lift(0),
@ -130,7 +130,8 @@ public:
// Limit for setting the acceleration, to respect the machine limits set for the Marlin firmware. // Limit for setting the acceleration, to respect the machine limits set for the Marlin firmware.
// If set to zero, the limit is not in action. // If set to zero, the limit is not in action.
unsigned int m_max_acceleration; unsigned int m_max_acceleration;
double m_max_jerk; double m_max_jerk_x;
double m_max_jerk_y;
double m_last_jerk; double m_last_jerk;
double m_max_jerk_z; double m_max_jerk_z;
double m_max_jerk_e; double m_max_jerk_e;