toolhead: Eliminate set_max_jerk() from kinematic classes
Allow the kinematic classes to query the max velocity, max accel, and max halt velocity from the toolhead class instead of having the toolhead class call into the kinematic classes with those values. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
0d13834293
commit
7a81bfc4a4
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@ -9,20 +9,23 @@ import stepper, homing
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StepList = (0, 1, 2)
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class CartKinematics:
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def __init__(self, printer, config):
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def __init__(self, toolhead, printer, config):
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self.steppers = [stepper.PrinterHomingStepper(
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printer, config.getsection('stepper_' + n), n)
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for n in ['x', 'y', 'z']]
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', 9999999.9, above=0.)
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'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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self.max_z_accel = config.getfloat(
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'max_z_accel', 9999999.9, above=0.)
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'max_z_accel', max_accel, above=0., maxval=max_accel)
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self.need_motor_enable = True
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self.limits = [(1.0, -1.0)] * 3
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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# Setup stepper max halt velocity
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max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
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self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[2].set_max_jerk(0., self.max_z_accel)
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max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
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self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
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def set_position(self, newpos):
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for i in StepList:
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self.steppers[i].mcu_stepper.set_position(newpos[i])
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@ -9,22 +9,25 @@ import stepper, homing
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StepList = (0, 1, 2)
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class CoreXYKinematics:
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def __init__(self, printer, config):
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def __init__(self, toolhead, printer, config):
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self.steppers = [stepper.PrinterHomingStepper(
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printer, config.getsection('stepper_' + n), n)
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for n in ['x', 'y', 'z']]
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self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
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self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', 9999999.9, above=0.)
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'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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self.max_z_accel = config.getfloat(
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'max_z_accel', 9999999.9, above=0.)
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'max_z_accel', max_accel, above=0., maxval=max_accel)
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self.need_motor_enable = True
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self.limits = [(1.0, -1.0)] * 3
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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# Setup stepper max halt velocity
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max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
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self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[2].set_max_jerk(0., self.max_z_accel)
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max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
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self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
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def set_position(self, newpos):
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pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
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for i in StepList:
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@ -12,13 +12,11 @@ StepList = (0, 1, 2)
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SLOW_RATIO = 3.
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class DeltaKinematics:
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def __init__(self, printer, config):
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self.config = config
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def __init__(self, toolhead, printer, config):
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self.steppers = [stepper.PrinterHomingStepper(
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printer, config.getsection('stepper_' + n), n)
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for n in ['a', 'b', 'c']]
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self.need_motor_enable = self.need_home = True
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self.max_velocity = self.max_z_velocity = self.max_accel = 0.
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radius = config.getfloat('delta_radius', above=0.)
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arm_length = config.getfloat('delta_arm_length', above=radius)
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self.arm_length2 = arm_length**2
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@ -29,6 +27,14 @@ class DeltaKinematics:
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logging.info(
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"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
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self.max_z, self.limit_z))
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# Setup stepper max halt velocity
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self.max_velocity, self.max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', self.max_velocity,
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above=0., maxval=self.max_velocity)
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max_xy_halt_velocity = toolhead.get_max_axis_halt(self.max_accel)
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for s in self.steppers:
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s.set_max_jerk(max_xy_halt_velocity, self.max_accel)
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# Determine tower locations in cartesian space
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angles = [config.getsection('stepper_a').getfloat('angle', 210.),
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config.getsection('stepper_b').getfloat('angle', 330.),
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@ -52,14 +58,6 @@ class DeltaKinematics:
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% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
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math.sqrt(self.very_slow_xy2)))
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self.set_position([0., 0., 0.])
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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self.max_velocity = max_velocity
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max_z_velocity = self.config.getfloat(
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'max_z_velocity', max_velocity, above=0.)
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self.max_z_velocity = min(max_velocity, max_z_velocity)
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self.max_accel = max_accel
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for stepper in self.steppers:
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stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
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def _cartesian_to_actuator(self, coord):
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return [math.sqrt(self.arm_length2
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- (self.towers[i][0] - coord[0])**2
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@ -21,6 +21,15 @@ class PrinterExtruder:
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'max_extrude_cross_section', 4. * self.nozzle_diameter**2
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, above=0.)
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self.max_extrude_ratio = max_cross_section / filament_area
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toolhead = printer.objects['toolhead']
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_e_velocity = self.config.getfloat(
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'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
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, above=0.)
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self.max_e_accel = self.config.getfloat(
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'max_extrude_only_accel', max_accel * self.max_extrude_ratio
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, above=0.)
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self.stepper.set_max_jerk(9999999.9, 9999999.9)
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self.max_e_dist = config.getfloat(
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'max_extrude_only_distance', 50., minval=0.)
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self.max_e_velocity = self.max_e_accel = None
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@ -34,14 +43,6 @@ class PrinterExtruder:
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'pressure_advance_lookahead_time', 0.010, minval=0.)
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self.need_motor_enable = True
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self.extrude_pos = 0.
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def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
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self.max_e_velocity = self.config.getfloat(
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'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
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, above=0.)
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self.max_e_accel = self.config.getfloat(
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'max_extrude_only_accel', max_accel * self.max_extrude_ratio
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, above=0.)
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self.stepper.set_max_jerk(9999999.9, 9999999.9)
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def get_heater(self):
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return self.heater
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def set_active(self, print_time, is_active):
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@ -6,7 +6,7 @@
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, optparse, ConfigParser, logging, time, threading
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import util, reactor, queuelogger, msgproto, gcode
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import pins, mcu, chipmisc, extruder, fan, heater, toolhead
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import pins, mcu, chipmisc, toolhead, extruder, fan, heater
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message_ready = "Printer is ready"
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@ -172,7 +172,7 @@ class Printer:
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ConfigLogger(self.fileconfig, self.bglogger)
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# Create printer components
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config = ConfigWrapper(self, 'printer')
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for m in [pins, mcu, chipmisc, extruder, fan, heater, toolhead]:
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for m in [pins, mcu, chipmisc, toolhead, extruder, fan, heater]:
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m.add_printer_objects(self, config)
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self.mcu = self.objects['mcu']
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# Validate that there are no undefined parameters in the config file
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@ -184,12 +184,7 @@ class ToolHead:
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self.printer = printer
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self.reactor = printer.reactor
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self.mcu = printer.objects['mcu']
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self.extruder = extruder.DummyExtruder()
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kintypes = {'cartesian': cartesian.CartKinematics,
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'corexy': corexy.CoreXYKinematics,
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'delta': delta.DeltaKinematics}
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self.kin = config.getchoice('kinematics', kintypes)(printer, config)
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self.max_speed = config.getfloat('max_velocity', above=0.)
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self.max_velocity = config.getfloat('max_velocity', above=0.)
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self.max_accel = config.getfloat('max_accel', above=0.)
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self.max_accel_to_decel = config.getfloat(
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'max_accel_to_decel', self.max_accel * 0.5
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@ -197,7 +192,6 @@ class ToolHead:
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self.junction_deviation = config.getfloat(
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'junction_deviation', 0.02, above=0.)
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self.move_queue = MoveQueue()
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self.move_queue.set_extruder(self.extruder)
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self.commanded_pos = [0., 0., 0., 0.]
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# Print time tracking
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self.buffer_time_low = config.getfloat(
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@ -221,12 +215,14 @@ class ToolHead:
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'motor_off_time', 600.000, minval=0.)
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self.motor_off_timer = self.reactor.register_timer(
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self._motor_off_handler)
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# Determine the maximum velocity a cartesian axis could have
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# before cornering. The 8. was determined experimentally.
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xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
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self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
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for e in extruder.get_printer_extruders(printer):
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e.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
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# Create kinematics class
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self.extruder = extruder.DummyExtruder()
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self.move_queue.set_extruder(self.extruder)
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kintypes = {'cartesian': cartesian.CartKinematics,
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'corexy': corexy.CoreXYKinematics,
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'delta': delta.DeltaKinematics}
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self.kin = config.getchoice('kinematics', kintypes)(
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self, printer, config)
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# Print time tracking
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def update_move_time(self, movetime):
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self.print_time += movetime
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@ -332,7 +328,7 @@ class ToolHead:
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self.commanded_pos[:] = newpos
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self.kin.set_position(newpos)
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def move(self, newpos, speed):
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speed = min(speed, self.max_speed)
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speed = min(speed, self.max_velocity)
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move = Move(self, self.commanded_pos, newpos, speed)
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if not move.move_d:
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return
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@ -396,6 +392,13 @@ class ToolHead:
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self.reset_print_time()
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except:
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logging.exception("Exception in force_shutdown")
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def get_max_velocity(self):
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return self.max_velocity, self.max_accel
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def get_max_axis_halt(self, max_accel):
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# Determine the maximum velocity a cartesian axis could halt
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# at due to the junction_deviation setting. The 8.0 was
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# determined experimentally.
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return math.sqrt(8. * self.junction_deviation * max_accel)
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def add_printer_objects(printer, config):
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printer.add_object('toolhead', ToolHead(printer, config))
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