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extruder: Add initial support for multi-extruders 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-29 14:56:39 -04:00
parent 136dccbcdf
commit 24b8f4ebc1
4 changed files with 78 additions and 14 deletions
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9
config/example.cfg
View File

@ -204,6 +204,15 @@ max_temp: 210
# Maximum temperature (mcu will shutdown if temperature is above
# this value). This parameter must be provided.
# In a multi-extruder printer add an additional extruder section for
# each additional extruder. The additional extruder sections should be
# named "extruder1", "extruder2", "extruder3", and so on. See the
# "extruder" section above for a description of available parameters.
#[extruder1]
#step_pin: ar20
#dir_pin: ar21
#...
# The heater_bed section describes a heated bed (if present - omit
# section if not present).
[heater_bed]

28
klippy/extruder.py
View File

@ -40,6 +40,10 @@ class PrinterExtruder:
'max_extrude_only_accel', max_accel * self.max_extrude_ratio
, above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
def get_heater(self):
return self.heater
def set_active(self, print_time, is_active):
return self.extrude_pos
def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0)
self.need_motor_enable = True
@ -201,6 +205,8 @@ class PrinterExtruder:
class DummyExtruder:
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
pass
def set_active(self, print_time, is_active):
return 0.
def motor_off(self, move_time):
pass
def check_move(self, move):
@ -212,6 +218,22 @@ class DummyExtruder:
return flush_count
def add_printer_objects(printer, config):
if config.has_section('extruder'):
printer.add_object('extruder', PrinterExtruder(
printer, config.getsection('extruder')))
for i in range(99):
section = 'extruder%d' % (i,)
if not config.has_section(section):
if not i and config.has_section('extruder'):
printer.add_object('extruder0', PrinterExtruder(
printer, config.getsection('extruder')))
continue
break
printer.add_object(section, PrinterExtruder(
printer, config.getsection(section)))
def get_printer_extruders(printer):
out = []
for i in range(99):
extruder = printer.objects.get('extruder%d' % (i,))
if extruder is None:
break
out.append(extruder)
return out

32
klippy/gcode.py
View File

@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections
import homing
import homing, extruder
# Parse out incoming GCode and find and translate head movements
class GCodeParser:
@ -27,6 +27,7 @@ class GCodeParser:
self.is_printer_ready = False
self.need_ack = False
self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None
self.extruder = None
self.speed = 25.0
self.absolutecoord = self.absoluteextrude = True
self.base_position = [0.0, 0.0, 0.0, 0.0]
@ -56,9 +57,11 @@ class GCodeParser:
# Lookup printer components
self.toolhead = self.printer.objects.get('toolhead')
self.heater_nozzle = None
extruder = self.printer.objects.get('extruder')
if extruder:
self.heater_nozzle = extruder.heater
extruders = extruder.get_printer_extruders(self.printer)
if extruders:
self.extruder = extruders[0]
self.heater_nozzle = self.extruder.get_heater()
self.toolhead.set_extruder(self.extruder)
self.heater_bed = self.printer.objects.get('heater_bed')
self.fan = self.printer.objects.get('fan')
if self.is_fileinput and self.fd_handle is None:
@ -233,7 +236,28 @@ class GCodeParser:
if not cmd:
logging.debug(params['#original'])
return
if cmd[0] == 'T' and len(cmd) > 1 and cmd[1].isdigit():
# Tn command has to be handled specially
self.cmd_Tn(params)
return
self.respond('echo:Unknown command:"%s"' % (cmd,))
def cmd_Tn(self, params):
# Select Tool
index = self.get_int('T', params)
extruders = extruder.get_printer_extruders(self.printer)
if self.extruder is None or index < 0 or index >= len(extruders):
self.respond_error("Extruder %d not configured" % (index,))
return
e = extruders[index]
if self.extruder is e:
return
try:
self.toolhead.set_extruder(e)
except homing.EndstopError, e:
self.respond_error(str(e))
return
self.extruder = e
self.last_position = self.toolhead.get_position()
all_handlers = [
'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',

23
klippy/toolhead.py
View File

@ -96,8 +96,8 @@ LOOKAHEAD_FLUSH_TIME = 0.250
# Class to track a list of pending move requests and to facilitate
# "look-ahead" across moves to reduce acceleration between moves.
class MoveQueue:
def __init__(self, extruder_lookahead):
self.extruder_lookahead = extruder_lookahead
def __init__(self):
self.extruder_lookahead = None
self.queue = []
self.leftover = 0
self.junction_flush = LOOKAHEAD_FLUSH_TIME
@ -107,6 +107,8 @@ class MoveQueue:
self.junction_flush = LOOKAHEAD_FLUSH_TIME
def set_flush_time(self, flush_time):
self.junction_flush = flush_time
def set_extruder(self, extruder):
self.extruder_lookahead = extruder.lookahead
def flush(self, lazy=False):
self.junction_flush = LOOKAHEAD_FLUSH_TIME
update_flush_count = lazy
@ -181,9 +183,7 @@ class ToolHead:
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor
self.extruder = printer.objects.get('extruder')
if self.extruder is None:
self.extruder = extruder.DummyExtruder()
self.extruder = extruder.DummyExtruder()
kintypes = {'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics}
@ -195,7 +195,8 @@ class ToolHead:
, above=0., maxval=self.max_accel)
self.junction_deviation = config.getfloat(
'junction_deviation', 0.02, above=0.)
self.move_queue = MoveQueue(self.extruder.lookahead)
self.move_queue = MoveQueue()
self.move_queue.set_extruder(self.extruder)
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
self.buffer_time_low = config.getfloat(
@ -223,7 +224,8 @@ class ToolHead:
# before cornering. The 8. was determined experimentally.
xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
for e in extruder.get_printer_extruders(printer):
e.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
# Print time tracking
def update_move_time(self, movetime):
self.print_time += movetime
@ -363,6 +365,13 @@ class ToolHead:
def query_endstops(self):
last_move_time = self.get_last_move_time()
return self.kin.query_endstops(last_move_time)
def set_extruder(self, extruder):
last_move_time = self.get_last_move_time()
self.extruder.set_active(last_move_time, False)
extrude_pos = extruder.set_active(last_move_time, True)
self.extruder = extruder
self.move_queue.set_extruder(extruder)
self.commanded_pos[3] = extrude_pos
# Misc commands
def stats(self, eventtime):
buffer_time = 0.