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extruder: Move extruder specific lookahead into extruder class

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Instead of calculating min/max_corner_v in the toolhead class,
calculate it in the extruder class.  This keeps the extruder specific
code together.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-01-27 22:06:54 -05:00
parent 19ed67331d
commit 1bb7a22115
2 changed files with 93 additions and 48 deletions
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60
klippy/extruder.py
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@@ -6,6 +6,8 @@
import math, logging
import stepper, heater, homing
EXTRUDE_DIFF_IGNORE = 1.02
class PrinterExtruder:
def __init__(self, printer, config):
self.config = config
@@ -35,6 +37,7 @@ class PrinterExtruder:
self.stepper.motor_enable(move_time, 0)
self.need_motor_enable = True
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
if not self.heater.can_extrude:
raise homing.EndstopMoveError(
move.end_pos, "Extrude below minimum temp")
@@ -48,6 +51,39 @@ class PrinterExtruder:
logging.debug("%s vs %s" % (move.extrude_r, self.max_extrude_ratio))
raise homing.EndstopMoveError(
move.end_pos, "Move exceeds maximum extrusion cross section")
def calc_junction(self, prev_move, move):
if move.axes_d[3] or prev_move.axes_d[3]:
if (not move.axes_d[3] or not prev_move.axes_d[3]
or move.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
or prev_move.extrude_r > move.extrude_r * EXTRUDE_DIFF_IGNORE):
# Extrude ratio between moves is too different
return 0.
move.extrude_r = prev_move.extrude_r
return move.max_cruise_v2
def lookahead(self, move_info, orig_flush_count, lazy):
if not self.pressure_advance:
return orig_flush_count
min_corner_v2 = max_corner_v2 = 0.
flush_count = len(move_info)
for i in range(flush_count-1, -1, -1):
move, start_v2, cruise_v2, end_v2 = move_info[i]
reachable_start_v2 = end_v2 + move.delta_v2
# Calculate min/max_corner_v2 - the speed the head will
# slow to due to junction cornering and the maximum speed
# the head will reach immediately afterwards.
move.extruder_min_corner_v2 = min_corner_v2
move.extruder_max_corner_v2 = max_corner_v2
if reachable_start_v2 > start_v2:
min_corner_v2 = start_v2
if (start_v2 + move.delta_v2 > end_v2
or end_v2 >= move_info[i+1][2]):
if lazy and max_corner_v2:
flush_count = i
lazy = False
max_corner_v2 = cruise_v2
if lazy:
return 0
return min(flush_count, orig_flush_count)
def move(self, move_time, move):
if self.need_motor_enable:
self.stepper.motor_enable(move_time, 1)
@@ -83,12 +119,14 @@ class PrinterExtruder:
prev_pressure_d += extra_accel_d
# Update decel and retract parameters when decelerating
if decel_t:
if move.min_corner_v:
npd = move.max_corner_v*move_extrude_r*self.pressure_advance
if move.extruder_min_corner_v2:
min_corner_v = math.sqrt(move.extruder_min_corner_v2)
max_corner_v = math.sqrt(move.extruder_max_corner_v2)
npd = max_corner_v*move_extrude_r*self.pressure_advance
extra_decel_d = prev_pressure_d - npd
if move.end_v > move.min_corner_v:
if move.end_v > min_corner_v:
extra_decel_d *= ((move.cruise_v - move.end_v)
/ (move.cruise_v - move.min_corner_v))
/ (move.cruise_v - min_corner_v))
else:
npd = move.end_v * move_extrude_r * self.pressure_advance
extra_decel_d = prev_pressure_d - npd
@@ -163,3 +201,17 @@ class PrinterExtruder:
, accel_sqrt_offset, accel_multiplier)
self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
# Dummy extruder class used when a printer has no extruder at all
class DummyExtruder:
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
pass
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