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synced 2025-08-06 05:24:02 -06:00
extruder: Initial support for "smoothed pressure advance"
Support averaging the extruder position over a time range to "smooth out" the velocity changes that occur during pressure advance. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
da06e185fb
commit
6d0c55b6c1
7 changed files with 108 additions and 175 deletions
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@ -46,19 +46,23 @@ class PrinterExtruder:
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config, 'activate_gcode', '')
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self.deactivate_gcode = gcode_macro.load_template(
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config, 'deactivate_gcode', '')
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self.pressure_advance = config.getfloat(
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'pressure_advance', 0., minval=0.)
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self.pressure_advance_lookahead_time = config.getfloat(
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'pressure_advance_lookahead_time', 0.010, minval=0.)
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self.extrude_pos = 0.
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self.pressure_advance = self.pressure_advance_smooth_time = 0.
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pressure_advance = config.getfloat('pressure_advance', 0., minval=0.)
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smooth_time = config.getfloat('pressure_advance_smooth_time',
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0.040, above=0., maxval=.200)
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self.extrude_pos = self.extrude_pa_pos = 0.
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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self.extruder_add_move = ffi_lib.extruder_add_move
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self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
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self.trapq_append = ffi_lib.trapq_append
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self.trapq_free_moves = ffi_lib.trapq_free_moves
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self.stepper.setup_itersolve('extruder_stepper_alloc')
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self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
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ffi_lib.free)
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self.stepper.set_stepper_kinematics(self.sk_extruder)
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self.stepper.set_trapq(self.trapq)
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toolhead.register_step_generator(self.stepper.generate_steps)
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self.extruder_set_pressure = ffi_lib.extruder_set_pressure
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self._set_pressure_advance(pressure_advance, smooth_time)
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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if self.name == 'extruder':
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@ -71,12 +75,24 @@ class PrinterExtruder:
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desc=self.cmd_SET_PRESSURE_ADVANCE_help)
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def update_move_time(self, flush_time):
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self.trapq_free_moves(self.trapq, flush_time)
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def _set_pressure_advance(self, pressure_advance, smooth_time):
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old_smooth_time = self.pressure_advance_smooth_time * .5
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if not self.pressure_advance:
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old_smooth_time = 0.
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new_smooth_time = smooth_time * .5
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if not pressure_advance:
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new_smooth_time = 0.
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toolhead = self.printer.lookup_object("toolhead")
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toolhead.note_step_generation_scan_time(new_smooth_time,
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old_delay=old_smooth_time)
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self.extruder_set_pressure(self.sk_extruder,
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pressure_advance, new_smooth_time)
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self.pressure_advance = pressure_advance
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self.pressure_advance_smooth_time = smooth_time
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def get_status(self, eventtime):
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return dict(
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self.get_heater().get_status(eventtime),
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pressure_advance=self.pressure_advance,
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lookahead_time=self.pressure_advance_lookahead_time
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)
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return dict(self.get_heater().get_status(eventtime),
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pressure_advance=self.pressure_advance,
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smooth_time=self.pressure_advance_smooth_time)
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def get_heater(self):
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return self.heater
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def set_active(self, print_time, is_active):
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@ -89,7 +105,6 @@ class PrinterExtruder:
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return self.heater.stats(eventtime)
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def check_move(self, move):
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move.extrude_r = move.axes_r[3]
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move.extrude_max_corner_v = 0.
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if not self.heater.can_extrude:
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raise homing.EndstopError(
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"Extrude below minimum temp\n"
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@ -107,7 +122,6 @@ class PrinterExtruder:
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elif move.extrude_r > self.max_extrude_ratio:
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if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
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# Permit extrusion if amount extruded is tiny
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move.extrude_r = self.max_extrude_ratio
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return
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area = move.axes_r[3] * self.filament_area
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logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
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@ -129,99 +143,41 @@ class PrinterExtruder:
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and abs(move.move_d * prev_move.extrude_r - extrude) >= .001):
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# Extrude ratio between moves is too different
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return 0.
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move.extrude_r = prev_move.extrude_r
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return move.max_cruise_v2
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def lookahead(self, moves, flush_count, lazy):
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lookahead_t = self.pressure_advance_lookahead_time
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if not self.pressure_advance or not lookahead_t:
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return flush_count
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# Calculate max_corner_v - the speed the head will accelerate
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# to after cornering.
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for i in range(flush_count):
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move = moves[i]
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if not move.decel_t:
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continue
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cruise_v = move.cruise_v
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max_corner_v = 0.
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sum_t = lookahead_t
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for j in range(i+1, flush_count):
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fmove = moves[j]
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if not fmove.max_start_v2:
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break
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if fmove.cruise_v > max_corner_v:
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if (not max_corner_v
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and not fmove.accel_t and not fmove.cruise_t):
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# Start timing after any full decel moves
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continue
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if sum_t >= fmove.accel_t:
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max_corner_v = fmove.cruise_v
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else:
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max_corner_v = max(
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max_corner_v, fmove.start_v + fmove.accel * sum_t)
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if max_corner_v >= cruise_v:
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break
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sum_t -= fmove.accel_t + fmove.cruise_t + fmove.decel_t
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if sum_t <= 0.:
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break
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else:
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if lazy:
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return i
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move.extrude_max_corner_v = max_corner_v
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return flush_count
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def move(self, print_time, move):
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axis_d = move.axes_d[3]
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axis_r = move.axes_r[3]
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accel = move.accel * axis_r
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start_v = move.start_v * axis_r
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cruise_v = move.cruise_v * axis_r
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accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
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# Update for pressure advance
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extra_accel_v = extra_decel_v = 0.
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start_pos = self.extrude_pos
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if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1])
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and self.pressure_advance):
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# Calculate extra_accel_v
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pressure_advance = self.pressure_advance * move.extrude_r
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prev_pressure_d = start_pos - move.start_pos[3]
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if accel_t:
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npd = move.cruise_v * pressure_advance
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extra_accel_d = npd - prev_pressure_d
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if extra_accel_d > 0.:
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extra_accel_v = extra_accel_d / accel_t
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axis_d += extra_accel_d
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prev_pressure_d += extra_accel_d
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# Calculate extra_decel_v
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emcv = move.extrude_max_corner_v
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if decel_t and emcv < move.cruise_v:
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npd = max(emcv, move.end_v) * pressure_advance
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extra_decel_d = npd - prev_pressure_d
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if extra_decel_d < 0.:
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axis_d += extra_decel_d
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extra_decel_v = extra_decel_d / decel_t
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# Generate steps
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self.extruder_add_move(
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self.trapq, print_time, accel_t, cruise_t, decel_t, start_pos,
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start_v, cruise_v, accel, extra_accel_v, extra_decel_v)
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self.extrude_pos = start_pos + axis_d
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is_pa = 0.
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if axis_r > 0. and (move.axes_d[0] or move.axes_d[1]):
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is_pa = 1.
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# Queue movement (x is extruder movement, y is movement with pa)
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self.trapq_append(self.trapq, print_time,
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move.accel_t, move.cruise_t, move.decel_t,
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move.start_pos[3], self.extrude_pa_pos, 0.,
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1., is_pa, 0.,
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start_v, cruise_v, accel)
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self.extrude_pos = move.end_pos[3]
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if is_pa:
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self.extrude_pa_pos += move.axes_d[3]
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cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
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def cmd_default_SET_PRESSURE_ADVANCE(self, params):
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extruder = self.printer.lookup_object('toolhead').get_extruder()
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extruder.cmd_SET_PRESSURE_ADVANCE(params)
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def cmd_SET_PRESSURE_ADVANCE(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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gcode = self.printer.lookup_object('gcode')
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pressure_advance = gcode.get_float(
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'ADVANCE', params, self.pressure_advance, minval=0.)
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pressure_advance_lookahead_time = gcode.get_float(
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'ADVANCE_LOOKAHEAD_TIME', params,
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self.pressure_advance_lookahead_time, minval=0.)
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self.pressure_advance = pressure_advance
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self.pressure_advance_lookahead_time = pressure_advance_lookahead_time
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smooth_time = gcode.get_float(
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'SMOOTH_TIME', params,
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self.pressure_advance_smooth_time, minval=0., maxval=.200)
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self._set_pressure_advance(pressure_advance, smooth_time)
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msg = ("pressure_advance: %.6f\n"
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"pressure_advance_lookahead_time: %.6f" % (
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pressure_advance, pressure_advance_lookahead_time))
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"pressure_advance_smooth_time: %.6f" % (
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pressure_advance, smooth_time))
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self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg))
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gcode.respond_info(msg, log=False)
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