stepper: Check if the motor needs to be enabled in the kinematic classes
Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
9ad8153d33
commit
5a1ec817d4
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@ -13,6 +13,7 @@ class CartKinematics:
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steppers = ['stepper_x', 'stepper_y', 'stepper_z']
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self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
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for n in steppers]
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self.need_motor_enable = True
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self.limits = [(1.0, -1.0)] * 3
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self.stepper_pos = [0, 0, 0]
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def build_config(self):
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@ -64,6 +65,14 @@ class CartKinematics:
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self.limits = [(1.0, -1.0)] * 3
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for stepper in self.steppers:
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stepper.motor_enable(move_time, 0)
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self.need_motor_enable = True
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def check_motor_enable(self, move_time, move):
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need_motor_enable = False
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for i in StepList:
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if move.axes_d[i]:
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self.steppers[i].motor_enable(move_time, 1)
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need_motor_enable |= self.steppers[i].need_motor_enable
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self.need_motor_enable = need_motor_enable
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def query_endstops(self, move_time):
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return homing.QueryEndstops(["x", "y", "z"], self.steppers)
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def check_endstops(self, move):
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@ -94,12 +103,15 @@ class CartKinematics:
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for i in StepList if axes_d[i]])
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move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
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def move(self, move_time, move):
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if self.need_motor_enable:
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self.check_motor_enable(move_time, move)
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inv_accel = 1. / move.accel
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inv_cruise_v = 1. / move.cruise_v
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for i in StepList:
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if not move.axes_d[i]:
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continue
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mcu_time, so = self.steppers[i].prep_move(move_time)
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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inv_step_dist = self.steppers[i].inv_step_dist
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steps = move.axes_d[i] * inv_step_dist
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move_step_d = move.move_d / abs(steps)
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@ -114,7 +126,7 @@ class CartKinematics:
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accel_time_offset = move.start_v * inv_accel
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accel_sqrt_offset = accel_time_offset**2
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accel_steps = move.accel_r * steps
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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step_pos += count
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@ -125,7 +137,7 @@ class CartKinematics:
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#t = pos/cruise_v
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cruise_multiplier = move_step_d * inv_cruise_v
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cruise_steps = move.cruise_r * steps
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count = so.step_factor(
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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step_pos += count
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step_offset += count - cruise_steps
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@ -136,7 +148,7 @@ class CartKinematics:
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decel_time_offset = move.cruise_v * inv_accel
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decel_sqrt_offset = decel_time_offset**2
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decel_steps = move.decel_r * steps
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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step_pos += count
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@ -13,6 +13,7 @@ class DeltaKinematics:
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steppers = ['stepper_a', 'stepper_b', 'stepper_c']
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self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
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for n in steppers]
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self.need_motor_enable = True
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radius = config.getfloat('delta_radius')
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arm_length = config.getfloat('delta_arm_length')
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self.arm_length2 = arm_length**2
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@ -105,6 +106,11 @@ class DeltaKinematics:
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self.limit_xy2 = -1.
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for stepper in self.steppers:
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stepper.motor_enable(move_time, 0)
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self.need_motor_enable = True
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def check_motor_enable(self, move_time):
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for i in StepList:
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self.steppers[i].motor_enable(move_time, 1)
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self.need_motor_enable = False
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def query_endstops(self, move_time):
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return homing.QueryEndstops(["a", "b", "c"], self.steppers)
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def check_move(self, move):
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@ -120,6 +126,8 @@ class DeltaKinematics:
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def move_z(self, move_time, move):
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if not move.axes_d[2]:
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return
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if self.need_motor_enable:
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self.check_motor_enable(move_time)
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inv_accel = 1. / move.accel
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inv_cruise_v = 1. / move.cruise_v
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for i in StepList:
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@ -128,7 +136,8 @@ class DeltaKinematics:
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tower_d2 = towerx_d**2 + towery_d**2
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height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2]
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mcu_time, so = self.steppers[i].prep_move(move_time)
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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inv_step_dist = self.steppers[i].inv_step_dist
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step_dist = self.steppers[i].step_dist
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steps = move.axes_d[2] * inv_step_dist
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@ -143,7 +152,7 @@ class DeltaKinematics:
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accel_time_offset = move.start_v * inv_accel
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accel_sqrt_offset = accel_time_offset**2
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accel_steps = move.accel_r * steps
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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step_pos += count
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@ -154,7 +163,7 @@ class DeltaKinematics:
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#t = pos/cruise_v
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cruise_multiplier = step_dist * inv_cruise_v
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cruise_steps = move.cruise_r * steps
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count = so.step_factor(
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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step_pos += count
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step_offset += count - cruise_steps
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@ -165,7 +174,7 @@ class DeltaKinematics:
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decel_time_offset = move.cruise_v * inv_accel
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decel_sqrt_offset = decel_time_offset**2
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decel_steps = move.decel_r * steps
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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step_pos += count
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@ -175,6 +184,8 @@ class DeltaKinematics:
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if not axes_d[0] and not axes_d[1]:
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self.move_z(move_time, move)
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return
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if self.need_motor_enable:
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self.check_motor_enable(move_time)
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move_d = move.move_d
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movez_r = 0.
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inv_movexy_d = 1. / move_d
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@ -243,44 +254,45 @@ class DeltaKinematics:
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step_dist = self.steppers[i].step_dist
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step_pos = self.stepper_pos[i]
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height = step_pos*step_dist - closestz
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mcu_time, so = self.steppers[i].prep_move(move_time)
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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if accel_up_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, closest_d - accel_up_d,
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step_dist, closest_d + accel_offset,
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closest_height2, height, movez_r, accel_multiplier)
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step_pos += count
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height += count * step_dist
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if cruise_up_d > 0.:
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count = so.step_delta_const(
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, closest_d - cruise_up_d,
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step_dist, closest_d - accel_d,
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closest_height2, height, movez_r, inv_cruise_v)
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step_pos += count
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height += count * step_dist
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if decel_up_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, closest_d - decel_up_d,
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step_dist, closest_d - decel_offset,
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closest_height2, height, movez_r, -accel_multiplier)
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step_pos += count
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height += count * step_dist
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if accel_down_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, closest_d - accel_down_d,
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-step_dist, closest_d + accel_offset,
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closest_height2, height, movez_r, accel_multiplier)
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step_pos += count
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height += count * step_dist
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if cruise_down_d > 0.:
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count = so.step_delta_const(
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, closest_d - cruise_down_d,
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-step_dist, closest_d - accel_d,
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closest_height2, height, movez_r, inv_cruise_v)
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step_pos += count
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height += count * step_dist
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if decel_down_d > 0.:
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count = so.step_delta_accel(
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, closest_d - decel_down_d,
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-step_dist, closest_d - decel_offset,
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closest_height2, height, movez_r, -accel_multiplier)
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@ -11,6 +11,7 @@ class PrinterExtruder:
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self.heater = heater.PrinterHeater(printer, config)
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self.stepper = stepper.PrinterStepper(printer, config)
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self.pressure_advance = config.getfloat('pressure_advance', 0.)
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self.need_motor_enable = True
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self.stepper_pos = 0
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self.extrude_pos = 0.
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def build_config(self):
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@ -19,6 +20,7 @@ class PrinterExtruder:
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self.stepper.build_config()
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def motor_off(self, move_time):
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self.stepper.motor_enable(move_time, 0)
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self.need_motor_enable = True
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def check_move(self, move):
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if not self.heater.can_extrude:
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raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
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@ -28,6 +30,9 @@ class PrinterExtruder:
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# Extrude only move - limit accel and velocity
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move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
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def move(self, move_time, move):
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if self.need_motor_enable:
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self.stepper.motor_enable(move_time, 1)
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self.need_motor_enable = False
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axis_d = move.axes_d[3]
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extrude_r = axis_d / move.move_d
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inv_accel = 1. / (move.accel * extrude_r)
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@ -92,7 +97,8 @@ class PrinterExtruder:
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stepper_pos = self.stepper_pos
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inv_step_dist = self.stepper.inv_step_dist
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step_dist = self.stepper.step_dist
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mcu_time, so = self.stepper.prep_move(move_time)
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mcu_stepper = self.stepper.mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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step_offset = stepper_pos - start_pos * inv_step_dist
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# Acceleration steps
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@ -102,7 +108,7 @@ class PrinterExtruder:
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accel_time_offset = start_v * inv_accel
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accel_sqrt_offset = accel_time_offset**2
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accel_steps = accel_d * inv_step_dist
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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stepper_pos += count
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@ -113,7 +119,7 @@ class PrinterExtruder:
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#t = pos/cruise_v
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cruise_multiplier = step_dist / cruise_v
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cruise_steps = cruise_d * inv_step_dist
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count = so.step_factor(
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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stepper_pos += count
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step_offset += count - cruise_steps
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@ -124,7 +130,7 @@ class PrinterExtruder:
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decel_time_offset = decel_v * inv_accel
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decel_sqrt_offset = decel_time_offset**2
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decel_steps = decel_d * inv_step_dist
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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stepper_pos += count
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@ -136,7 +142,7 @@ class PrinterExtruder:
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accel_time_offset = retract_v * inv_accel
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accel_sqrt_offset = accel_time_offset**2
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accel_steps = -retract_d * inv_step_dist
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count = so.step_sqrt(
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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stepper_pos += count
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@ -64,18 +64,14 @@ class PrinterStepper:
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if endstop_pin is not None:
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self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
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def motor_enable(self, move_time, enable=0):
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if enable and self.need_motor_enable:
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mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
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self.mcu_stepper.reset_step_clock(mcu_time)
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if (self.mcu_enable is not None
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and self.mcu_enable.get_last_setting() != enable):
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mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
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self.mcu_enable.set_digital(mcu_time, enable)
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self.need_motor_enable = True
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def prep_move(self, move_time):
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mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
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if self.need_motor_enable:
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self.mcu_stepper.reset_step_clock(mcu_time)
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self.motor_enable(move_time, 1)
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self.need_motor_enable = False
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return (mcu_time, self.mcu_stepper)
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self.need_motor_enable = not enable
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def enable_endstop_checking(self, move_time, step_time):
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mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
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self.mcu_endstop.home(mcu_time, step_time)
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@ -86,7 +82,7 @@ class PrinterStepper:
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self.mcu_endstop.query_endstop()
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return self.mcu_endstop
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def get_homed_offset(self):
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if not self.homing_stepper_phases:
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if not self.homing_stepper_phases or self.need_motor_enable:
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return 0
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pos = self.mcu_endstop.get_last_position()
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pos %= self.homing_stepper_phases
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