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Merge remote-tracking branch 'remotes/origin/wipe_tower_improvements'

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bubnikv 2018-07-17 09:20:19 +02:00
commit c7f59aca7d
19 changed files with 837 additions and 309 deletions
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125
xs/src/libslic3r/GCode/WipeTowerPrusaMM.cpp
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@ -21,7 +21,6 @@ TODO LIST
#include <iostream>
#include <vector>
#include <numeric>
#include <algorithm>
#include "Analyzer.hpp"
@ -138,7 +137,7 @@ public:
width += m_layer_height * float(1. - M_PI / 4.);
if (m_extrusions.empty() || m_extrusions.back().pos != rotated_current_pos)
m_extrusions.emplace_back(WipeTower::Extrusion(rotated_current_pos, 0, m_current_tool));
m_extrusions.emplace_back(WipeTower::Extrusion(WipeTower::xy(rot.x, rot.y), width, m_current_tool));
m_extrusions.emplace_back(WipeTower::Extrusion(WipeTower::xy(rot.x, rot.y), width, m_current_tool));
}
m_gcode += "G1";
@ -231,6 +230,17 @@ public:
Writer& retract(float e, float f = 0.f)
{ return load(-e, f); }
// Loads filament while also moving towards given points in x-axis (x feedrate is limited by cutting the distance short if necessary)
Writer& load_move_x_advanced(float farthest_x, float loading_dist, float loading_speed, float max_x_speed = 50.f)
{
float time = std::abs(loading_dist / loading_speed);
float x_speed = std::min(max_x_speed, std::abs(farthest_x - x()) / time);
float feedrate = 60.f * std::hypot(x_speed, loading_speed);
float end_point = x() + (farthest_x > x() ? 1.f : -1.f) * x_speed * time;
return extrude_explicit(end_point, y(), loading_dist, feedrate);
}
// Elevate the extruder head above the current print_z position.
Writer& z_hop(float hop, float f = 0.f)
{
@ -276,12 +286,9 @@ public:
// Set extruder temperature, don't wait by default.
Writer& set_extruder_temp(int temperature, bool wait = false)
{
if (temperature != current_temp) {
char buf[128];
sprintf(buf, "M%d S%d\n", wait ? 109 : 104, temperature);
m_gcode += buf;
current_temp = temperature;
}
char buf[128];
sprintf(buf, "M%d S%d\n", wait ? 109 : 104, temperature);
m_gcode += buf;
return *this;
};
@ -399,8 +406,7 @@ private:
int current_temp = -1;
const float m_default_analyzer_line_width;
std::string
set_format_X(float x)
std::string set_format_X(float x)
{
char buf[64];
sprintf(buf, " X%.3f", x);
@ -475,7 +481,6 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::prime(
// If false, the last priming are will be large enough to wipe the last extruder sufficiently.
bool last_wipe_inside_wipe_tower)
{
this->set_layer(first_layer_height, first_layer_height, tools.size(), true, false);
this->m_current_tool = tools.front();
@ -558,7 +563,7 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, boo
{
for (const auto &b : m_layer_info->tool_changes)
if ( b.new_tool == tool ) {
wipe_volume = wipe_volumes[b.old_tool][b.new_tool];
wipe_volume = b.wipe_volume;
if (tool == m_layer_info->tool_changes.back().new_tool)
last_change_in_layer = true;
wipe_area = b.required_depth * m_layer_info->extra_spacing;
@ -783,51 +788,44 @@ void WipeTowerPrusaMM::toolchange_Unload(
WipeTower::xy end_of_ramming(writer.x(),writer.y());
writer.change_analyzer_line_width(m_perimeter_width); // so the next lines are not affected by ramming_line_width_multiplier
// Pull the filament end to the BEGINNING of the cooling tube while still moving the print head
float oldx = writer.x();
float turning_point = (!m_left_to_right ? std::max(xl,oldx-15.f) : std::min(xr,oldx+15.f) ); // so it's not too far
float xdist = std::abs(oldx-turning_point);
float edist = -(m_cooling_tube_retraction+m_cooling_tube_length/2.f-42);
// Retraction:
float old_x = writer.x();
float turning_point = (!m_left_to_right ? xl : xr );
float total_retraction_distance = m_cooling_tube_retraction + m_cooling_tube_length/2.f - 15.f; // the 15mm is reserved for the first part after ramming
writer.suppress_preview()
.load_move_x(turning_point,-15 , 60.f * std::hypot(xdist,15)/15 * 83 ) // fixed speed after ramming
.load_move_x(oldx ,edist , 60.f * std::hypot(xdist,edist)/std::abs(edist) * m_filpar[m_current_tool].unloading_speed )
.load_move_x(turning_point,-15 , 60.f * std::hypot(xdist,15)/15 * m_filpar[m_current_tool].unloading_speed*0.55f )
.load_move_x(oldx ,-12 , 60.f * std::hypot(xdist,12)/12 * m_filpar[m_current_tool].unloading_speed*0.35f )
.load_move_x_advanced(turning_point, -15.f, 83.f, 50.f) // this is done at fixed speed
.load_move_x_advanced(old_x, -0.70f * total_retraction_distance, 1.0f * m_filpar[m_current_tool].unloading_speed)
.load_move_x_advanced(turning_point, -0.20f * total_retraction_distance, 0.5f * m_filpar[m_current_tool].unloading_speed)
.load_move_x_advanced(old_x, -0.10f * total_retraction_distance, 0.3f * m_filpar[m_current_tool].unloading_speed)
.travel(old_x, writer.y()) // in case previous move was shortened to limit feedrate
.resume_preview();
if (new_temperature != 0) // Set the extruder temperature, but don't wait.
if (new_temperature != 0 && new_temperature != m_old_temperature ) { // Set the extruder temperature, but don't wait.
writer.set_extruder_temp(new_temperature, false);
m_old_temperature = new_temperature;
}
// cooling:
writer.suppress_preview();
writer.travel(writer.x(), writer.y() + y_step);
const float start_x = writer.x();
turning_point = ( xr-start_x > start_x-xl ? xr : xl );
const float max_x_dist = 2*std::abs(start_x-turning_point);
const unsigned int N = 4 + std::max(0.f, (m_filpar[m_current_tool].cooling_time-14)/3);
float time = m_filpar[m_current_tool].cooling_time / float(N);
// Cooling:
const int& number_of_moves = m_filpar[m_current_tool].cooling_moves;
if (number_of_moves > 0) {
const float& initial_speed = m_filpar[m_current_tool].cooling_initial_speed;
const float& final_speed = m_filpar[m_current_tool].cooling_final_speed;
i = 0;
while (i<N) {
const float speed = std::min(3.4,2.2 + i*0.3 + (i==0 ? 0 : 0.3)); // mm per second: 2.2, 2.8, 3.1, 3.4, 3.4, 3.4, ...
const float e_dist = std::min(speed * time,2*m_cooling_tube_length); // distance to travel
// this move is the last one at this speed or someone set tube_length to zero
if (speed * time < 2*m_cooling_tube_length || m_cooling_tube_length<WT_EPSILON) {
++i;
time = m_filpar[m_current_tool].cooling_time / float(N);
}
else
time -= e_dist / speed; // subtract time this part will really take
float speed_inc = (final_speed - initial_speed) / (2.f * number_of_moves - 1.f);
// as for x, we will make sure the feedrate is at most 2000
float x_dist = (turning_point - WT_EPSILON < xl ? -1.f : 1.f) * std::min(e_dist * (float)sqrt(pow(2000 / (60 * speed), 2) - 1),max_x_dist);
const float feedrate = std::hypot(e_dist, x_dist) / ((e_dist / speed) / 60.f);
writer.cool(start_x+x_dist/2.f,start_x,e_dist/2.f,-e_dist/2.f, feedrate);
}
writer.suppress_preview()
.travel(writer.x(), writer.y() + y_step);
old_x = writer.x();
turning_point = xr-old_x > old_x-xl ? xr : xl;
for (int i=0; i<number_of_moves; ++i) {
float speed = initial_speed + speed_inc * 2*i;
writer.load_move_x_advanced(turning_point, m_cooling_tube_length, speed);
speed += speed_inc;
writer.load_move_x_advanced(old_x, -m_cooling_tube_length, speed);
}
}
// let's wait is necessary
// let's wait is necessary:
writer.wait(m_filpar[m_current_tool].delay);
// we should be at the beginning of the cooling tube again - let's move to parking position:
writer.retract(-m_cooling_tube_length/2.f+m_parking_pos_retraction-m_cooling_tube_retraction, 2000);
@ -871,16 +869,16 @@ void WipeTowerPrusaMM::toolchange_Load(
float oldx = writer.x(); // the nozzle is in place to do the first wiping moves, we will remember the position
// Load the filament while moving left / right, so the excess material will not create a blob at a single position.
float loading_speed = m_filpar[m_current_tool].loading_speed; // mm/s in e axis
float turning_point = ( oldx-xl < xr-oldx ? xr : xl );
float dist = std::abs(oldx-turning_point);
float edist = m_parking_pos_retraction-50-2; // loading is 2mm shorter that previous retraction, 50mm reserved for acceleration/deceleration
writer.append("; CP TOOLCHANGE LOAD\n")
float edist = m_parking_pos_retraction+m_extra_loading_move;
writer.append("; CP TOOLCHANGE LOAD\n")
.suppress_preview()
.load_move_x(turning_point, 20, 60*std::hypot(dist,20.f)/20.f * loading_speed*0.3f) // Acceleration
.load_move_x(oldx,edist,60*std::hypot(dist,edist)/edist * loading_speed) // Fast phase
.load_move_x(turning_point, 20, 60*std::hypot(dist,20.f)/20.f * loading_speed*0.3f) // Slowing down
.load_move_x(oldx, 10, 60*std::hypot(dist,10.f)/10.f * loading_speed*0.1f) // Super slow
.load_move_x_advanced(turning_point, 0.2f * edist, 0.3f * m_filpar[m_current_tool].loading_speed) // Acceleration
.load_move_x_advanced(oldx, 0.5f * edist, m_filpar[m_current_tool].loading_speed) // Fast phase
.load_move_x_advanced(turning_point, 0.2f * edist, 0.3f * m_filpar[m_current_tool].loading_speed) // Slowing down
.load_move_x_advanced(oldx, 0.1f * edist, 0.1f * m_filpar[m_current_tool].loading_speed) // Super slow
.travel(oldx, writer.y()) // in case last move was shortened to limit x feedrate
.resume_preview();
// Reset the extruder current to the normal value.
@ -1057,7 +1055,7 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer()
}
// Appends a toolchange into m_plan and calculates neccessary depth of the corresponding box
void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool,bool brim)
void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool, bool brim, float wipe_volume)
{
assert(m_plan.back().z <= z_par + WT_EPSILON ); // refuses to add a layer below the last one
@ -1082,13 +1080,13 @@ void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsi
float ramming_depth = depth;
length_to_extrude = width*((length_to_extrude / width)-int(length_to_extrude / width)) - width;
float first_wipe_line = -length_to_extrude;
length_to_extrude += volume_to_length(wipe_volumes[old_tool][new_tool], m_perimeter_width, layer_height_par);
length_to_extrude += volume_to_length(wipe_volume, m_perimeter_width, layer_height_par);
length_to_extrude = std::max(length_to_extrude,0.f);
depth += (int(length_to_extrude / width) + 1) * m_perimeter_width;
depth *= m_extra_spacing;
m_plan.back().tool_changes.push_back(WipeTowerInfo::ToolChange(old_tool, new_tool, depth, ramming_depth,first_wipe_line));
m_plan.back().tool_changes.push_back(WipeTowerInfo::ToolChange(old_tool, new_tool, depth, ramming_depth, first_wipe_line, wipe_volume));
}
@ -1128,7 +1126,7 @@ void WipeTowerPrusaMM::save_on_last_wipe()
float width = m_wipe_tower_width - 3*m_perimeter_width; // width we draw into
float length_to_save = 2*(m_wipe_tower_width+m_wipe_tower_depth) + (!layer_finished() ? finish_layer().total_extrusion_length_in_plane() : 0.f);
float length_to_wipe = volume_to_length(wipe_volumes[m_layer_info->tool_changes.back().old_tool][m_layer_info->tool_changes.back().new_tool],
float length_to_wipe = volume_to_length(m_layer_info->tool_changes.back().wipe_volume,
m_perimeter_width,m_layer_info->height) - m_layer_info->tool_changes.back().first_wipe_line - length_to_save;
length_to_wipe = std::max(length_to_wipe,0.f);
@ -1145,7 +1143,8 @@ void WipeTowerPrusaMM::save_on_last_wipe()
void WipeTowerPrusaMM::generate(std::vector<std::vector<WipeTower::ToolChangeResult>> &result)
{
if (m_plan.empty())
return;
return;
m_extra_spacing = 1.f;
@ -1165,8 +1164,6 @@ void WipeTowerPrusaMM::generate(std::vector<std::vector<WipeTower::ToolChangeRes
for (auto layer : m_plan)
{
set_layer(layer.z,layer.height,0,layer.z == m_plan.front().z,layer.z == m_plan.back().z);
if (m_peters_wipe_tower)
m_wipe_tower_rotation_angle += 90.f;
else