docs: Add a features document

Add a document describing some high-level features in Klipper.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-20 22:22:54 -05:00
parent 1d841eeb87
commit 18456f71f8
3 changed files with 92 additions and 3 deletions

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@ -6,8 +6,11 @@ runs on a host machine. The host software does the work to build a
schedule of events, while the micro-controller software does the work schedule of events, while the micro-controller software does the work
to execute the provided schedule at the specified times. to execute the provided schedule at the specified times.
Please see the [documentation](docs/Overview.md) for more information See the [features](docs/Features.md) document to find out why you
on running and working with Klipper. should use Klipper. To begin using Klipper start by
[installing](docs/Installation.md) it.
There is also [developer documentation](docs/Overview.md) available.
License License
======= =======

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docs/Features.md Normal file
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Klipper is an experimental 3d printer firmware. It has several
compelling features:
* High precision stepper movement. Klipper utilizes an application
processor (such as a low-cost Raspberry Pi) when calculating printer
movements. The application processor determines when to step each
stepper motor, it compresses those events, transmits them to the
micro-controller, and then the micro-controller executes each event
at the requested time. Each stepper event is scheduled with a
precision of no less than 50 micro-seconds. The software does not
use kinematic estimations (such as the Bresenham algorithm) -
instead it calculates precise step times based on the physics of
acceleration and the physics of the machine kinematics. More precise
stepper movement translates to quieter and more stable printer
operation.
* Best in class performance. Klipper is able to achieve high stepping
rates on both new and old micro-controllers. Even an old 8bit AVR
micro-controller can obtain rates up to 150K steps per second. On
more recent ARM micro-controllers, rates over 350K steps per second
are possible. Higher stepper rates enable higher print
velocities. The stepper event timing remains precise even at high
speeds which improves overall stability.
* Configuration via simple config file. There's no need to reflash the
micro-controller to change a setting. All of Klipper's configuration
is stored in a standard config file which can be easily edited. This
makes it easier to setup and maintain the hardware.
* Portable code. Klipper works on both ARM and AVR
micro-controllers. Existing "reprap" style printers can run Klipper
without hardware modification - just add a Raspberry Pi. Klipper's
internal code layout makes it easier to support other
micro-controller architectures as well.
* Simpler code. Klipper uses a very high level language (Python) for
most code. The kinematics algorithms, the gcode parsing, the heating
and thermistor algorithms, etc. are all written in Python. This
makes it easier to develop new functionality.
* Advanced features. Klipper implements the "pressure advance"
algorithm for extruders. When properly tuned, pressure advance
reduces extruder ooze. Klipper also implements a novel "stepper
phase endstop" algorithm that can dramatically improve the accuracy
of typical endstop switches. When properly tuned it can improve a
print's first layer bed adhesion.
To get started with Klipper, read the [installation](Installation.md)
guide.
Common features supported by Klipper
====================================
Klipper supports many standard 3d printer features:
* Works with Octoprint. This allows the printer to be controlled using
a regular web-browser. The same Raspberry Pi that runs Klipper can
also run Octoprint.
* Standard G-Code support. Common g-code commands that are produced by
typical "slicers" are supported. One may continue to use Slic3r,
Cura, etc. with Klipper.
* Constant speed acceleration support. All printer moves will
gradually accelerate from standstill to cruising speed and then
decelerate back to a standstill.
* "Lookahead" support. The incoming stream of G-Code movement commands
are queued and analyzed - the acceleration between movements in a
similar direction will be optimized to reduce print stalls and
improve overall print time.
* Support for both delta printers and cartesian style printers.
Step Benchmarks
===============
Below are the results of stepper performance tests. The numbers shown
represent total number of steps per second on the micro-controller.
| Micro-controller | 1 stepper active | 3 steppers active |
| ----------------- | ---------------- | ----------------- |
| 20Mhz AVR | 158.7K | 103K |
| 16Mhz AVR | 126.9K | 82K |
| Arduino Due (ARM) | 352.9K | 288K |

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See [installation](Installation.md) for information on compiling, See [installation](Installation.md) for information on compiling,
installing, and running Klipper. installing, and running Klipper. Read [features](Features.md) for a
high-level description of useful capabilities.
See [code overview](Code_Overview.md) for developer information on the See [code overview](Code_Overview.md) for developer information on the
structure and layout of the Klipper code. structure and layout of the Klipper code.