mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-07-23 22:54:10 -06:00
toolhead: Move kinematic modules to new kinematics/ directory
Move extruder.py, cartesian.py, corexy.py, and delta.py to a new kinematics/ sub-directory. This is intended to make adding new kinematics a little easier. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
7d897d84d7
commit
8faab46ed2
9 changed files with 37 additions and 17 deletions
|
|
@ -1,253 +0,0 @@
|
|||
# Code for handling printer nozzle extruders
|
||||
#
|
||||
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import math, logging
|
||||
import stepper, homing, chelper
|
||||
|
||||
EXTRUDE_DIFF_IGNORE = 1.02
|
||||
|
||||
class PrinterExtruder:
|
||||
def __init__(self, config):
|
||||
self.printer = config.get_printer()
|
||||
self.name = config.get_name()
|
||||
shared_heater = config.get('shared_heater', None)
|
||||
pheater = self.printer.lookup_object('heater')
|
||||
if shared_heater is None:
|
||||
self.heater = pheater.setup_heater(config)
|
||||
else:
|
||||
self.heater = pheater.lookup_heater(shared_heater)
|
||||
self.stepper = stepper.PrinterStepper(config)
|
||||
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
|
||||
filament_diameter = config.getfloat(
|
||||
'filament_diameter', minval=self.nozzle_diameter)
|
||||
self.filament_area = math.pi * (filament_diameter * .5)**2
|
||||
max_cross_section = config.getfloat(
|
||||
'max_extrude_cross_section', 4. * self.nozzle_diameter**2
|
||||
, above=0.)
|
||||
self.max_extrude_ratio = max_cross_section / self.filament_area
|
||||
logging.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio)
|
||||
toolhead = self.printer.lookup_object('toolhead')
|
||||
max_velocity, max_accel = toolhead.get_max_velocity()
|
||||
self.max_e_velocity = config.getfloat(
|
||||
'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
|
||||
, above=0.)
|
||||
self.max_e_accel = config.getfloat(
|
||||
'max_extrude_only_accel', max_accel * self.max_extrude_ratio
|
||||
, above=0.)
|
||||
self.stepper.set_max_jerk(9999999.9, 9999999.9)
|
||||
self.max_e_dist = config.getfloat(
|
||||
'max_extrude_only_distance', 50., minval=0.)
|
||||
self.activate_gcode = config.get('activate_gcode', '')
|
||||
self.deactivate_gcode = config.get('deactivate_gcode', '')
|
||||
self.pressure_advance = config.getfloat(
|
||||
'pressure_advance', 0., minval=0.)
|
||||
self.pressure_advance_lookahead_time = config.getfloat(
|
||||
'pressure_advance_lookahead_time', 0.010, minval=0.)
|
||||
self.need_motor_enable = True
|
||||
self.extrude_pos = 0.
|
||||
# Setup iterative solver
|
||||
ffi_main, ffi_lib = chelper.get_ffi()
|
||||
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
|
||||
self.extruder_move_fill = ffi_lib.extruder_move_fill
|
||||
sk = ffi_main.gc(ffi_lib.extruder_stepper_alloc(), ffi_lib.free)
|
||||
self.stepper.setup_itersolve(sk)
|
||||
# Setup SET_PRESSURE_ADVANCE command
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
if self.name in ('extruder', 'extruder0'):
|
||||
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
|
||||
self.cmd_default_SET_PRESSURE_ADVANCE,
|
||||
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
|
||||
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", self.name,
|
||||
self.cmd_SET_PRESSURE_ADVANCE,
|
||||
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
|
||||
def get_heater(self):
|
||||
return self.heater
|
||||
def set_active(self, print_time, is_active):
|
||||
return self.extrude_pos
|
||||
def get_activate_gcode(self, is_active):
|
||||
if is_active:
|
||||
return self.activate_gcode
|
||||
return self.deactivate_gcode
|
||||
def stats(self, eventtime):
|
||||
return self.heater.stats(eventtime)
|
||||
def motor_off(self, print_time):
|
||||
self.stepper.motor_enable(print_time, 0)
|
||||
self.need_motor_enable = True
|
||||
def check_move(self, move):
|
||||
move.extrude_r = move.axes_d[3] / move.move_d
|
||||
move.extrude_max_corner_v = 0.
|
||||
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.is_kinematic_move or move.extrude_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:
|
||||
if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
|
||||
# Permit extrusion if amount extruded is tiny
|
||||
move.extrude_r = self.max_extrude_ratio
|
||||
return
|
||||
area = move.axes_d[3] * self.filament_area / move.move_d
|
||||
logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
|
||||
move.extrude_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.
|
||||
move.extrude_r = prev_move.extrude_r
|
||||
return move.max_cruise_v2
|
||||
def lookahead(self, moves, flush_count, lazy):
|
||||
lookahead_t = self.pressure_advance_lookahead_time
|
||||
if not self.pressure_advance or not lookahead_t:
|
||||
return flush_count
|
||||
# Calculate max_corner_v - the speed the head will accelerate
|
||||
# to after cornering.
|
||||
for i in range(flush_count):
|
||||
move = moves[i]
|
||||
if not move.decel_t:
|
||||
continue
|
||||
cruise_v = move.cruise_v
|
||||
max_corner_v = 0.
|
||||
sum_t = lookahead_t
|
||||
for j in range(i+1, flush_count):
|
||||
fmove = moves[j]
|
||||
if not fmove.max_start_v2:
|
||||
break
|
||||
if fmove.cruise_v > max_corner_v:
|
||||
if (not max_corner_v
|
||||
and not fmove.accel_t and not fmove.cruise_t):
|
||||
# Start timing after any full decel moves
|
||||
continue
|
||||
if sum_t >= fmove.accel_t:
|
||||
max_corner_v = fmove.cruise_v
|
||||
else:
|
||||
max_corner_v = max(
|
||||
max_corner_v, fmove.start_v + fmove.accel * sum_t)
|
||||
if max_corner_v >= cruise_v:
|
||||
break
|
||||
sum_t -= fmove.accel_t + fmove.cruise_t + fmove.decel_t
|
||||
if sum_t <= 0.:
|
||||
break
|
||||
else:
|
||||
if lazy:
|
||||
return i
|
||||
move.extrude_max_corner_v = max_corner_v
|
||||
return flush_count
|
||||
def move(self, print_time, move):
|
||||
if self.need_motor_enable:
|
||||
self.stepper.motor_enable(print_time, 1)
|
||||
self.need_motor_enable = False
|
||||
axis_d = move.axes_d[3]
|
||||
axis_r = axis_d / move.move_d
|
||||
accel = move.accel * axis_r
|
||||
start_v = move.start_v * axis_r
|
||||
cruise_v = move.cruise_v * axis_r
|
||||
accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
|
||||
|
||||
# Update for pressure advance
|
||||
extra_accel_v = extra_decel_v = 0.
|
||||
start_pos = self.extrude_pos
|
||||
if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1])
|
||||
and self.pressure_advance):
|
||||
# Calculate extra_accel_v
|
||||
pressure_advance = self.pressure_advance * move.extrude_r
|
||||
prev_pressure_d = start_pos - move.start_pos[3]
|
||||
if accel_t:
|
||||
npd = move.cruise_v * pressure_advance
|
||||
extra_accel_d = npd - prev_pressure_d
|
||||
if extra_accel_d > 0.:
|
||||
extra_accel_v = extra_accel_d / accel_t
|
||||
axis_d += extra_accel_d
|
||||
prev_pressure_d += extra_accel_d
|
||||
# Calculate extra_decel_v
|
||||
emcv = move.extrude_max_corner_v
|
||||
if decel_t and emcv < move.cruise_v:
|
||||
npd = max(emcv, move.end_v) * pressure_advance
|
||||
extra_decel_d = npd - prev_pressure_d
|
||||
if extra_decel_d < 0.:
|
||||
axis_d += extra_decel_d
|
||||
extra_decel_v = extra_decel_d / decel_t
|
||||
|
||||
# Generate steps
|
||||
self.extruder_move_fill(
|
||||
self.cmove, print_time, accel_t, cruise_t, decel_t, start_pos,
|
||||
start_v, cruise_v, accel, extra_accel_v, extra_decel_v)
|
||||
self.stepper.step_itersolve(self.cmove)
|
||||
self.extrude_pos = start_pos + axis_d
|
||||
cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
|
||||
def cmd_default_SET_PRESSURE_ADVANCE(self, params):
|
||||
extruder = self.printer.lookup_object('toolhead').get_extruder()
|
||||
extruder.cmd_SET_PRESSURE_ADVANCE(params)
|
||||
def cmd_SET_PRESSURE_ADVANCE(self, params):
|
||||
self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
pressure_advance = gcode.get_float(
|
||||
'ADVANCE', params, self.pressure_advance, minval=0.)
|
||||
pressure_advance_lookahead_time = gcode.get_float(
|
||||
'ADVANCE_LOOKAHEAD_TIME', params,
|
||||
self.pressure_advance_lookahead_time, minval=0.)
|
||||
self.pressure_advance = pressure_advance
|
||||
self.pressure_advance_lookahead_time = pressure_advance_lookahead_time
|
||||
msg = ("pressure_advance: %.6f\n"
|
||||
"pressure_advance_lookahead_time: %.6f" % (
|
||||
pressure_advance, pressure_advance_lookahead_time))
|
||||
self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg))
|
||||
gcode.respond_info(msg)
|
||||
|
||||
# Dummy extruder class used when a printer has no extruder at all
|
||||
class DummyExtruder:
|
||||
def set_active(self, print_time, is_active):
|
||||
return 0.
|
||||
def motor_off(self, move_time):
|
||||
pass
|
||||
def check_move(self, move):
|
||||
raise homing.EndstopMoveError(
|
||||
move.end_pos, "Extrude when no extruder present")
|
||||
def calc_junction(self, prev_move, move):
|
||||
return move.max_cruise_v2
|
||||
def lookahead(self, moves, flush_count, lazy):
|
||||
return flush_count
|
||||
|
||||
def add_printer_objects(config):
|
||||
printer = config.get_printer()
|
||||
for i in range(99):
|
||||
section = 'extruder%d' % (i,)
|
||||
if not config.has_section(section):
|
||||
if not i and config.has_section('extruder'):
|
||||
pe = PrinterExtruder(config.getsection('extruder'))
|
||||
printer.add_object('extruder0', pe)
|
||||
continue
|
||||
break
|
||||
printer.add_object(section, PrinterExtruder(config.getsection(section)))
|
||||
|
||||
def get_printer_extruders(printer):
|
||||
out = []
|
||||
for i in range(99):
|
||||
extruder = printer.lookup_object('extruder%d' % (i,), None)
|
||||
if extruder is None:
|
||||
break
|
||||
out.append(extruder)
|
||||
return out
|
||||
Loading…
Add table
Add a link
Reference in a new issue