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extruder: Do extruder lookahead based on time instead of cornering 

When calculating the extruder lookahead, determine how far to
lookahead by the amount of elapsed time each move takes.  This makes
the extruder lookahead code more flexible as it is no longer limited
to the next immediate cornering moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-01-27 22:32:12 -05:00
parent 1bb7a22115
commit 528c29c01c
2 changed files with 37 additions and 40 deletions
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75
klippy/extruder.py
View File

@ -38,6 +38,7 @@ class PrinterExtruder:
self.need_motor_enable = True self.need_motor_enable = True
def check_move(self, move): def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_max_corner_v = 0.
if not self.heater.can_extrude: if not self.heater.can_extrude:
raise homing.EndstopMoveError( raise homing.EndstopMoveError(
move.end_pos, "Extrude below minimum temp") move.end_pos, "Extrude below minimum temp")
@ -60,30 +61,34 @@ class PrinterExtruder:
return 0. return 0.
move.extrude_r = prev_move.extrude_r move.extrude_r = prev_move.extrude_r
return move.max_cruise_v2 return move.max_cruise_v2
def lookahead(self, move_info, orig_flush_count, lazy): def lookahead(self, moves, flush_count, lazy):
if not self.pressure_advance: pressure_advance = self.pressure_advance
return orig_flush_count if not pressure_advance:
min_corner_v2 = max_corner_v2 = 0. return flush_count
flush_count = len(move_info) # Calculate max_corner_v - the speed the head will accelerate
for i in range(flush_count-1, -1, -1): # to after cornering.
move, start_v2, cruise_v2, end_v2 = move_info[i] for i in range(flush_count):
reachable_start_v2 = end_v2 + move.delta_v2 move = moves[i]
# Calculate min/max_corner_v2 - the speed the head will if not move.decel_t:
# slow to due to junction cornering and the maximum speed continue
# the head will reach immediately afterwards. cruise_v = move.cruise_v
move.extruder_min_corner_v2 = min_corner_v2 max_corner_v = 0.
move.extruder_max_corner_v2 = max_corner_v2 sum_t = pressure_advance
if reachable_start_v2 > start_v2: for j in range(i+1, flush_count):
min_corner_v2 = start_v2 fmove = moves[j]
if (start_v2 + move.delta_v2 > end_v2 if not fmove.max_start_v2:
or end_v2 >= move_info[i+1][2]): break
if lazy and max_corner_v2: max_corner_v = max(max_corner_v, fmove.cruise_v)
flush_count = i if max_corner_v >= cruise_v:
lazy = False break
max_corner_v2 = cruise_v2 sum_t -= fmove.accel_t + fmove.cruise_t + fmove.decel_t
if lazy: if sum_t <= 0.:
return 0 break
return min(flush_count, orig_flush_count) else:
if lazy:
return i
move.extrude_max_corner_v = max_corner_v
return flush_count
def move(self, move_time, move): def move(self, move_time, move):
if self.need_motor_enable: if self.need_motor_enable:
self.stepper.motor_enable(move_time, 1) self.stepper.motor_enable(move_time, 1)
@ -108,28 +113,20 @@ class PrinterExtruder:
if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1]) if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1])
and self.pressure_advance): and self.pressure_advance):
# Increase accel_d and start_v when accelerating # Increase accel_d and start_v when accelerating
move_extrude_r = move.extrude_r pressure_advance = self.pressure_advance * move.extrude_r
prev_pressure_d = start_pos - move.start_pos[3] prev_pressure_d = start_pos - move.start_pos[3]
if accel_t: if accel_d:
npd = move.cruise_v * move_extrude_r * self.pressure_advance npd = move.cruise_v * pressure_advance
extra_accel_d = npd - prev_pressure_d extra_accel_d = npd - prev_pressure_d
if extra_accel_d > 0.: if extra_accel_d > 0.:
accel_d += extra_accel_d accel_d += extra_accel_d
start_v += extra_accel_d / accel_t start_v += extra_accel_d / accel_t
prev_pressure_d += extra_accel_d prev_pressure_d += extra_accel_d
# Update decel and retract parameters when decelerating # Update decel and retract parameters when decelerating
if decel_t: emcv = move.extrude_max_corner_v
if move.extruder_min_corner_v2: if decel_d and emcv < move.cruise_v:
min_corner_v = math.sqrt(move.extruder_min_corner_v2) npd = max(emcv, move.end_v) * pressure_advance
max_corner_v = math.sqrt(move.extruder_max_corner_v2) extra_decel_d = prev_pressure_d - npd
npd = max_corner_v*move_extrude_r*self.pressure_advance
extra_decel_d = prev_pressure_d - npd
if move.end_v > min_corner_v:
extra_decel_d *= ((move.cruise_v - move.end_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
if extra_decel_d > 0.: if extra_decel_d > 0.:
extra_decel_v = extra_decel_d / decel_t extra_decel_v = extra_decel_d / decel_t
decel_v -= extra_decel_v decel_v -= extra_decel_v

2
klippy/toolhead.py
View File

@ -125,7 +125,7 @@ class MoveQueue:
for move, start_v2, cruise_v2, end_v2 in move_info[:flush_count]: for move, start_v2, cruise_v2, end_v2 in move_info[:flush_count]:
move.set_junction(start_v2, cruise_v2, end_v2) move.set_junction(start_v2, cruise_v2, end_v2)
# Allow extruder to do its lookahead # Allow extruder to do its lookahead
flush_count = self.extruder_lookahead(move_info, flush_count, lazy) flush_count = self.extruder_lookahead(queue, flush_count, lazy)
# Generate step times for all moves ready to be flushed # Generate step times for all moves ready to be flushed
for move in queue[:flush_count]: for move in queue[:flush_count]:
move.move() move.move()