From 275b38685603eb34f832dfc3fbd8b63e5f610e18 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 30 Sep 2016 14:47:45 -0400 Subject: [PATCH] toolhead: Allow kinematics class to verify the move prior to queuing it Introduce a check_move() method in the extruder and cartesian kinematic classes. This allows the lower level classes to verify the contents of the move prior to queing that move. The speed and acceleration handling for special Z and extrude only moves are also moved from the generic toolhead class to the low-level classes. Signed-off-by: Kevin O'Connor --- klippy/cartesian.py | 21 ++++++++++------ klippy/extruder.py | 8 ++++-- klippy/toolhead.py | 59 +++++++++++++++++++++------------------------ 3 files changed, 47 insertions(+), 41 deletions(-) diff --git a/klippy/cartesian.py b/klippy/cartesian.py index bc141c12..18a22382 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -22,17 +22,10 @@ class CartKinematics: def set_position(self, newpos): self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5) for i in StepList] - def get_max_xy_speed(self): + def get_max_speed(self): max_xy_speed = min(s.max_velocity for s in self.steppers[:2]) max_xy_accel = min(s.max_accel for s in self.steppers[:2]) return max_xy_speed, max_xy_accel - def get_max_speed(self, axes_d, move_d): - # Calculate max speed and accel for a given move - velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i]) - for i in StepList if axes_d[i]]) - accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) - for i in StepList if axes_d[i]]) - return velocity_factor * move_d, accel_factor * move_d def get_homed_position(self): return [s.get_homed_position() for s in self.steppers] def home(self, toolhead, axes): @@ -69,6 +62,18 @@ class CartKinematics: stepper.motor_enable(move_time, 0) def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) + def check_move(self, move): + if not move.axes_d[2]: + # Normal XY move - use defaults + return + # Move with Z - update velocity and accel for slower Z axis + axes_d = move.axes_d + move_d = move.move_d + velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i]) + for i in StepList if axes_d[i]]) + accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) + for i in StepList if axes_d[i]]) + move.limit_speed(velocity_factor * move_d, accel_factor * move_d) def move(self, move_time, move): inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v diff --git a/klippy/extruder.py b/klippy/extruder.py index 3aef5a19..6a7d6c99 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -18,10 +18,14 @@ class PrinterExtruder: self.heater.build_config() self.stepper.set_max_jerk(9999999.9) self.stepper.build_config() - def get_max_speed(self): - return self.stepper.max_velocity, self.stepper.max_accel def motor_off(self, move_time): self.stepper.motor_enable(move_time, 0) + def check_move(self, move): + if (not move.do_calc_junction + and not move.axes_d[0] and not move.axes_d[1] + and not move.axes_d[2]): + # Extrude only move - limit accel and velocity + move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel) def move(self, move_time, move): move_d = move.move_d inv_accel = 1. / move.accel diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d6f41ef1..e73a2d15 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -14,12 +14,23 @@ EXTRUDE_DIFF_IGNORE = 1.02 # Class to track each move request class Move: - def __init__(self, toolhead, pos, move_d, axes_d, speed, accel): + def __init__(self, toolhead, pos, axes_d, speed, accel): self.toolhead = toolhead self.pos = tuple(pos) - self.move_d = move_d self.axes_d = axes_d self.accel = accel + self.do_calc_junction = True + if axes_d[2]: + # Move with Z + move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) + self.do_calc_junction = False + else: + move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2) + if not move_d: + # Extrude only move + move_d = abs(axes_d[3]) + self.do_calc_junction = False + self.move_d = move_d self.extrude_r = axes_d[3] / move_d # Junction speeds are velocities squared. The junction_delta # is the maximum amount of this squared-velocity that can @@ -27,7 +38,13 @@ class Move: self.junction_max = speed**2 self.junction_delta = 2.0 * move_d * accel self.junction_start_max = 0. + def limit_speed(self, speed, accel): + self.junction_max = min(self.junction_max, speed**2) + self.accel = min(self.accel, accel) + self.junction_delta = 2.0 * self.move_d * self.accel def calc_junction(self, prev_move): + if not self.do_calc_junction or not prev_move.do_calc_junction: + return # Find max junction_start_velocity between two moves if (self.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE or prev_move.extrude_r > self.extrude_r * EXTRUDE_DIFF_IGNORE): @@ -141,7 +158,7 @@ class ToolHead: 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.max_speed, self.max_accel = self.kin.get_max_speed() self.junction_deviation = config.getfloat('junction_deviation', 0.02) self.move_queue = MoveQueue() self.commanded_pos = [0., 0., 0., 0.] @@ -227,38 +244,18 @@ class ToolHead: self.move_queue.flush() self.commanded_pos[:] = newpos self.kin.set_position(newpos) - def _move_with_z(self, newpos, axes_d, speed): - self.move_queue.flush() - move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) - # Limit velocity and accel to max for each stepper - kin_speed, kin_accel = self.kin.get_max_speed(axes_d, move_d) - speed = min(speed, self.max_xy_speed, kin_speed) - accel = min(self.max_xy_accel, kin_accel) - # Generate and execute move - move = Move(self, newpos, move_d, axes_d, speed, accel) - move.process(0., 0.) - def _move_only_e(self, newpos, axes_d, speed): - self.move_queue.flush() - 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) - move.process(0., 0.) def move(self, newpos, speed, sloppy=False): axes_d = [newpos[i] - self.commanded_pos[i] for i in (0, 1, 2, 3)] + if axes_d == [0., 0., 0., 0.]: + # No move + return + speed = min(speed, self.max_speed) + move = Move(self, newpos, axes_d, speed, self.max_accel) + self.kin.check_move(move) + if axes_d[3]: + self.extruder.check_move(move) self.commanded_pos[:] = newpos - if axes_d[2]: - self._move_with_z(newpos, axes_d, speed) - return - move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2) - if not move_d: - if axes_d[3]: - self._move_only_e(newpos, axes_d, speed) - return - # Common xy move - create move and queue it - speed = min(speed, self.max_xy_speed) - move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel) self.move_queue.add_move(move) def home(self, axes): homing = self.kin.home(self, axes)