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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
move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
def move(self, move_time, move):
move_d = move.move_d
inv_accel = 1. / move.accel
axis_d = move.axes_d[3]
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_d = move.accel_r * move_d
cruise_d = move.cruise_r * move_d
decel_d = move.decel_r * move_d
accel_d = move.accel_r * axis_d
cruise_d = move.cruise_r * axis_d
decel_d = move.decel_r * axis_d
retract_t = retract_d = retract_v = 0.
decel_v = cruise_v
# 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):
# Increase accel_d and start_v when accelerating
extra_accel_d = (cruise_v - start_v) * self.pressure_advance
@ -71,14 +74,13 @@ class PrinterExtruder:
decel_d -= extra_decel_d
# Determine regular steps
extrude_r = move.axes_d[3] / move_d
forward_d = accel_d + cruise_d + decel_d
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
new_step_pos = int(end_pos*inv_step_dist + 0.5)
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
self.stepper_pos = new_step_pos
sdir = 0
@ -119,10 +121,10 @@ class PrinterExtruder:
# Determine retract steps
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)
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
self.stepper_pos = new_step_pos
mcu_time, so = self.stepper.prep_move(