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extruder: Consistently use extrude distance in calculations 

Avoid mixing the travel distance of the head (and its associated
velocity and acceleration) with the distance the filament moves.
Instead, use the filament travel distance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-04 19:28:07 -04:00
parent 9d7aa1e155
commit a201385008
1 changed files with 14 additions and 12 deletions
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26
klippy/extruder.py
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@ -28,20 +28,23 @@ class PrinterExtruder:
# Extrude only move - limit accel and velocity # Extrude only move - limit accel and velocity
move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel) move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
def move(self, move_time, move): def move(self, move_time, move):
move_d = move.move_d axis_d = move.axes_d[3]
inv_accel = 1. / move.accel extrude_r = axis_d / move.move_d
inv_accel = 1. / (move.accel * extrude_r)
start_v, cruise_v, end_v = move.start_v, move.cruise_v, move.end_v start_v = move.start_v * extrude_r
cruise_v = move.cruise_v * extrude_r
end_v = move.end_v * extrude_r
accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
accel_d = move.accel_r * move_d accel_d = move.accel_r * axis_d
cruise_d = move.cruise_r * move_d cruise_d = move.cruise_r * axis_d
decel_d = move.decel_r * move_d decel_d = move.decel_r * axis_d
retract_t = retract_d = retract_v = 0. retract_t = retract_d = retract_v = 0.
decel_v = cruise_v decel_v = cruise_v
# Update for pressure advance # Update for pressure advance
if (move.axes_d[3] >= 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
extra_accel_d = (cruise_v - start_v) * self.pressure_advance extra_accel_d = (cruise_v - start_v) * self.pressure_advance
@ -71,14 +74,13 @@ class PrinterExtruder:
decel_d -= extra_decel_d decel_d -= extra_decel_d
# Determine regular steps # Determine regular steps
extrude_r = move.axes_d[3] / move_d
forward_d = accel_d + cruise_d + decel_d forward_d = accel_d + cruise_d + decel_d
start_pos = self.extrude_pos start_pos = self.extrude_pos
end_pos = start_pos + forward_d * extrude_r end_pos = start_pos + forward_d
inv_step_dist = self.stepper.inv_step_dist inv_step_dist = self.stepper.inv_step_dist
new_step_pos = int(end_pos*inv_step_dist + 0.5) new_step_pos = int(end_pos*inv_step_dist + 0.5)
if new_step_pos != self.stepper_pos: if new_step_pos != self.stepper_pos:
steps = forward_d * extrude_r * inv_step_dist steps = forward_d * inv_step_dist
step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5 step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5
self.stepper_pos = new_step_pos self.stepper_pos = new_step_pos
sdir = 0 sdir = 0
@ -119,10 +121,10 @@ class PrinterExtruder:
# Determine retract steps # Determine retract steps
start_pos = end_pos start_pos = end_pos
end_pos -= retract_d * extrude_r end_pos -= retract_d
new_step_pos = int(end_pos*inv_step_dist + 0.5) new_step_pos = int(end_pos*inv_step_dist + 0.5)
if new_step_pos != self.stepper_pos: if new_step_pos != self.stepper_pos:
steps = retract_d * extrude_r * inv_step_dist steps = retract_d * inv_step_dist
step_offset = start_pos * inv_step_dist - self.stepper_pos + 0.5 step_offset = start_pos * inv_step_dist - self.stepper_pos + 0.5
self.stepper_pos = new_step_pos self.stepper_pos = new_step_pos
mcu_time, so = self.stepper.prep_move( mcu_time, so = self.stepper.prep_move(