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stepper: Have caller calculate max jerk velocity 

Allow the owner of the stepper object to cacluate the maximum step
jerk velocity.  This is used to ensure there is no communication error
between mcu and host.

Disable checking of jerk velocity for extruder stepper motors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-22 15:38:13 -04:00
parent d3c27c514f
commit 589017a3d6
3 changed files with 9 additions and 2 deletions
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2
klippy/cartesian.py
View File

@ -15,6 +15,8 @@ class CartKinematics:
for n in steppers] for n in steppers]
self.stepper_pos = [0, 0, 0] self.stepper_pos = [0, 0, 0]
def build_config(self): def build_config(self):
for stepper in self.steppers[:2]:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
for stepper in self.steppers: for stepper in self.steppers:
stepper.build_config() stepper.build_config()
def set_position(self, newpos): def set_position(self, newpos):

1
klippy/extruder.py
View File

@ -14,6 +14,7 @@ class PrinterExtruder:
self.stepper_pos = 0 self.stepper_pos = 0
def build_config(self): def build_config(self):
self.heater.build_config() self.heater.build_config()
self.stepper.set_max_jerk(9999999.9)
self.stepper.build_config() self.stepper.build_config()
def get_max_speed(self): def get_max_speed(self):
return self.stepper.max_velocity, self.stepper.max_accel return self.stepper.max_velocity, self.stepper.max_accel

8
klippy/stepper.py
View File

@ -15,6 +15,7 @@ class PrinterStepper:
self.inv_step_dist = 1. / self.step_dist self.inv_step_dist = 1. / self.step_dist
self.max_velocity = config.getfloat('max_velocity') self.max_velocity = config.getfloat('max_velocity')
self.max_accel = config.getfloat('max_accel') self.max_accel = config.getfloat('max_accel')
self.max_jerk = 0.
self.homing_speed = config.getfloat('homing_speed', 5.0) self.homing_speed = config.getfloat('homing_speed', 5.0)
self.homing_positive_dir = config.getboolean( self.homing_positive_dir = config.getboolean(
@ -26,6 +27,8 @@ class PrinterStepper:
self.clock_ticks = None self.clock_ticks = None
self.need_motor_enable = True self.need_motor_enable = True
def set_max_jerk(self, max_jerk):
self.max_jerk = max_jerk
def build_config(self): def build_config(self):
self.clock_ticks = self.printer.mcu.get_mcu_freq() self.clock_ticks = self.printer.mcu.get_mcu_freq()
max_error = self.config.getfloat('max_error', 0.000050) max_error = self.config.getfloat('max_error', 0.000050)
@ -33,9 +36,10 @@ class PrinterStepper:
step_pin = self.config.get('step_pin') step_pin = self.config.get('step_pin')
dir_pin = self.config.get('dir_pin') dir_pin = self.config.get('dir_pin')
jc = 0.005 # XXX jc = self.max_jerk / self.max_accel
inv_max_step_accel = self.step_dist / self.max_accel inv_max_step_accel = self.step_dist / self.max_accel
min_stop_interval = int((math.sqrt(inv_max_step_accel + jc**2) - jc) min_stop_interval = int((math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2))
* self.clock_ticks) - max_error * self.clock_ticks) - max_error
min_stop_interval = max(0, min_stop_interval) min_stop_interval = max(0, min_stop_interval)
mcu = self.printer.mcu mcu = self.printer.mcu