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toolhead: Add a SET_VELOCITY_LIMIT command 

Add a command to adjust the maximum velocity, acceleration, and
junction deviation parameters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-04-20 22:13:29 -04:00
parent d5dc6b785d
commit bdd26e421b
2 changed files with 42 additions and 3 deletions
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4
docs/G-Codes.md
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@ -80,6 +80,10 @@ The following standard commands are supported:
cycles. If the WRITE_FILE parameter is enabled, then the file
/tmp/heattest.txt will be created with a log of all temperature
samples taken during the test.
- `SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
[ACCEL_TO_DECEL=<value>] [JUNCTION_DEVIATION=<value>]`: Modify the
printer's velocity limits. Note that one may only set values less
than or equal to the limits specified in the config file.
- `SET_PRESSURE_ADVANCE [ADVANCE=<pressure_advance>]
[ADVANCE_LOOKAHEAD_TIME=<pressure_advance_lookahead_time>]`:
Set pressure advance parameters.

41
klippy/toolhead.py
View File

@ -193,11 +193,15 @@ class ToolHead:
self.mcu = self.all_mcus[0]
self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
max_accel_to_decel = config.getfloat('max_accel_to_decel',
self.max_accel * 0.5, above=0.)
self.max_accel_to_decel = min(max_accel_to_decel, self.max_accel)
self.requested_accel_to_decel = config.getfloat(
'max_accel_to_decel', self.max_accel * 0.5, above=0.)
self.max_accel_to_decel = min(self.requested_accel_to_decel,
self.max_accel)
self.junction_deviation = config.getfloat(
'junction_deviation', 0.02, minval=0.)
self.config_max_velocity = self.max_velocity
self.config_max_accel = self.max_accel
self.config_junction_deviation = self.junction_deviation
self.move_queue = MoveQueue()
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
@ -230,6 +234,10 @@ class ToolHead:
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(
self, printer, config)
# SET_VELOCITY_LIMIT command
gcode = printer.lookup_object('gcode')
gcode.register_command('SET_VELOCITY_LIMIT', self.cmd_SET_VELOCITY_LIMIT,
desc=self.cmd_SET_VELOCITY_LIMIT_help)
# Print time tracking
def update_move_time(self, movetime):
self.print_time += movetime
@ -399,6 +407,33 @@ class ToolHead:
# determined experimentally.
return min(self.max_velocity,
math.sqrt(8. * self.junction_deviation * self.max_accel))
cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits"
def cmd_SET_VELOCITY_LIMIT(self, params):
print_time = self.get_last_move_time()
gcode = self.printer.lookup_object('gcode')
max_velocity = gcode.get_float(
'VELOCITY', params, self.max_velocity,
above=0., maxval=self.config_max_velocity)
max_accel = gcode.get_float(
'ACCEL', params, self.max_accel,
above=0., maxval=self.config_max_accel)
junction_deviation = gcode.get_float(
'JUNCTION_DEVIATION', params, self.junction_deviation,
minval=0., maxval=self.config_junction_deviation)
self.requested_accel_to_decel = gcode.get_float(
'ACCEL_TO_DECEL', params, self.requested_accel_to_decel, above=0.)
self.max_velocity = max_velocity
self.max_accel = max_accel
self.max_accel_to_decel = min(self.requested_accel_to_decel, max_accel)
self.junction_deviation = junction_deviation
msg = ("max_velocity: %.6f\n"
"max_accel: %.6f\n"
"max_accel_to_decel: %.6f\n"
"junction_deviation: %.6f"% (
max_velocity, max_accel, self.requested_accel_to_decel,
junction_deviation))
self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,))
gcode.respond_info(msg)
def add_printer_objects(printer, config):
printer.add_object('toolhead', ToolHead(printer, config))