63 lines
2.5 KiB
Python
63 lines
2.5 KiB
Python
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# Code for handling printer nozzle extruders
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#
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# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import stepper, heater
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class PrinterExtruder:
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def __init__(self, printer, config):
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cfg = config.getsection('extruder')
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self.heater = heater.PrinterHeater(printer, cfg)
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self.stepper = stepper.PrinterStepper(printer, cfg)
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self.stepper_pos = 0
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def build_config(self):
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self.heater.build_config()
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self.stepper.build_config()
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def get_max_speed(self):
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return self.stepper.max_velocity, self.stepper.max_accel
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def motor_off(self, move_time):
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self.stepper.motor_enable(move_time, 0)
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def move(self, move_time, move):
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inv_accel = 1. / move.accel
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new_step_pos = int(move.pos[3]*self.stepper.inv_step_dist + 0.5)
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steps = new_step_pos - self.stepper_pos
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if not steps:
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return
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self.stepper_pos = new_step_pos
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sdir = 0
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if steps < 0:
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sdir = 1
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steps = -steps
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clock_offset, clock_freq, so = self.stepper.prep_move(sdir, move_time)
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step_dist = move.move_d / steps
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step_offset = 0.5
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# Acceleration steps
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#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
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accel_clock_offset = move.start_v * inv_accel * clock_freq
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accel_sqrt_offset = accel_clock_offset**2
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accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2
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accel_steps = move.accel_r * steps
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step_offset = so.step_sqrt(
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accel_steps, step_offset, clock_offset - accel_clock_offset
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, accel_sqrt_offset, accel_multiplier)
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clock_offset += move.accel_t * clock_freq
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# Cruising steps
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#t = pos/cruise_v
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cruise_multiplier = step_dist * clock_freq / move.cruise_v
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cruise_steps = move.cruise_r * steps
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step_offset = so.step_factor(
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cruise_steps, step_offset, clock_offset, cruise_multiplier)
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clock_offset += move.cruise_t * clock_freq
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# Deceleration steps
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#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
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decel_clock_offset = move.cruise_v * inv_accel * clock_freq
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decel_sqrt_offset = decel_clock_offset**2
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decel_steps = move.decel_r * steps
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so.step_sqrt(
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decel_steps, step_offset, clock_offset + decel_clock_offset
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, decel_sqrt_offset, -accel_multiplier)
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