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extruder: Create a new class and python file to track the printer extruder

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Create a new python file (extruder.py) to control the extruder heater
and stepper motors.  This separates the extruder control logic from
the cartesian robot code - making it easier to customize both the
kinematic control of the robot as well as the extruder.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-10 12:23:35 -04:00
parent 4a527a46ce
commit af99ab1645
8 changed files with 88 additions and 27 deletions
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6
klippy/toolhead.py
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@ -61,6 +61,8 @@ class Move:
# Generate step times for the move
next_move_time = self.toolhead.get_next_move_time()
self.toolhead.kin.move(next_move_time, self)
if self.axes_d[3]:
self.toolhead.extruder.move(next_move_time, self)
self.toolhead.update_move_time(accel_t + cruise_t + decel_t)
# Class to track a list of pending move requests and to facilitate
@ -113,6 +115,7 @@ class ToolHead:
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor
self.extruder = printer.objects.get('extruder')
self.kin = cartesian.CartKinematics(printer, config)
self.max_xy_speed, self.max_xy_accel = self.kin.get_max_xy_speed()
self.junction_deviation = config.getfloat('junction_deviation', 0.02)
@ -208,7 +211,7 @@ class ToolHead:
move.process(0., 0.)
def _move_only_e(self, newpos, axes_d, speed):
self.move_queue.flush()
kin_speed, kin_accel = self.kin.get_max_e_speed()
kin_speed, kin_accel = self.extruder.get_max_speed()
speed = min(speed, self.max_xy_speed, kin_speed)
accel = min(self.max_xy_accel, kin_accel)
move = Move(self, newpos, abs(axes_d[3]), axes_d, speed, accel)
@ -238,5 +241,6 @@ class ToolHead:
self.dwell(STALL_TIME)
last_move_time = self.get_last_move_time()
self.kin.motor_off(last_move_time)
self.extruder.motor_off(last_move_time)
self.dwell(STALL_TIME)
logging.debug('; Max time of %f' % (last_move_time,))