toolhead: Specify maximum acceleration and velocity in toolhead class

Change the config file so the maximum accel and velocity are specified
in the "printer" section instead of the individual "stepper" sections.
The underlying code limits the velocity and accel of the toolhead
relative to the print object, so it makes sense to configure the
system that was as well.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

config/example-delta.cfg

@@ -16,8 +16,6 @@ step_pin: ar54
 dir_pin: ar55
 enable_pin: !ar38
 step_distance: .01
-max_velocity: 200
-max_accel: 3000
 endstop_pin: ^ar2
 homing_speed: 50.0
 position_endstop: 297.05
@@ -30,8 +28,6 @@ step_pin: ar60
 dir_pin: ar61
 enable_pin: !ar56
 step_distance: .01
-max_velocity: 200
-max_accel: 3000
 endstop_pin: ^ar15
 position_endstop: 297.05
 
@@ -42,8 +38,6 @@ step_pin: ar46
 dir_pin: ar48
 enable_pin: !ar62
 step_distance: .01
-max_velocity: 200
-max_accel: 3000
 endstop_pin: ^ar19
 position_endstop: 297.05
 
@@ -85,6 +79,8 @@ pin_map: arduino
 [printer]
 kinematics: delta
 #   This option must be "delta" for linear delta printers
+max_velocity: 200
+max_accel: 3000
 delta_arm_length: 333.0
 #   Length (in mm) of the diagonal rods that connect the linear axes
 #   to the print head

config/example.cfg

@@ -26,10 +26,6 @@ enable_pin: !ar25
 #   Enable pin (default is enable high; use ! to indicate enable low)
 step_distance: .0225
 #   Distance in mm that each step causes the axis to travel
-max_velocity: 500
-#   Maximum velocity (in mm/s) of the stepper
-max_accel: 3000
-#   Maximum acceleration (in mm/s^2) of the stepper
 endstop_pin: ^ar0
 #   Endstop switch detection pin
 homing_speed: 50.0
@@ -75,8 +71,6 @@ step_pin: ar27
 dir_pin: ar26
 enable_pin: !ar25
 step_distance: .0225
-max_velocity: 500
-max_accel: 3000
 endstop_pin: ^ar1
 position_min: -0.25
 position_endstop: 0
@@ -90,8 +84,6 @@ step_pin: ar23
 dir_pin: !ar22
 enable_pin: !ar25
 step_distance: .005
-max_velocity: 250
-max_accel: 30
 endstop_pin: ^ar2
 position_min: 0.1
 position_endstop: 0.5
@@ -108,7 +100,12 @@ dir_pin: ar18
 enable_pin: !ar25
 step_distance: .004242
 max_velocity: 200000
+#   Maximum velocity (in mm/s) of the extruder motor for extrude only
+#   moves.
 max_accel: 3000
+#   Maximum acceleration (in mm/s^2) of the extruder motor for extrude
+#   only moves.
+#
 # The remaining variables describe the extruder heater
 pressure_advance: 0.0
 #   The amount of raw filament to push into the extruder during
@@ -191,6 +188,20 @@ custom:
 [printer]
 kinematics: cartesian
 #   This option must be "cartesian" for cartesian printers
+max_velocity: 500
+#   Maximum velocity (in mm/s) of the toolhead (relative to the
+#   print)
+max_accel: 3000
+#   Maximum acceleration (in mm/s^2) of the toolhead (relative to the
+#   print)
+max_z_velocity: 250
+#   For cartesian printers this sets the maximum velocity (in mm/s) of
+#   movement along the z axis. This setting can be used to restrict
+#   the maximum speed of the z stepper motor on cartesian printers.
+max_z_accel: 30
+#   For cartesian printers this sets the maximum acceleration (in
+#   mm/s^2) of movement along the z axis. It limits the acceleration
+#   of the z stepper motor on cartesian printers.
 motor_off_time: 60
 #   Time (in seconds) of idle time before the printer will try to
 #   disable active motors.

config/makergear-m2-2012.cfg

@@ -8,8 +8,6 @@ step_pin: PC0
 dir_pin: !PL1
 enable_pin: !PA7
 step_distance: .0225
-max_velocity: 500
-max_accel: 3000
 endstop_pin: ^!PB6
 homing_speed: 50.0
 homing_stepper_phases: 32
@@ -23,8 +21,6 @@ step_pin: PC1
 dir_pin: PL0
 enable_pin: !PA6
 step_distance: .0225
-max_velocity: 500
-max_accel: 3000
 endstop_pin: ^!PB5
 homing_speed: 50.0
 homing_stepper_phases: 32
@@ -38,8 +34,6 @@ step_pin: PC2
 dir_pin: !PL2
 enable_pin: !PA5
 step_distance: .005
-max_velocity: 250
-max_accel: 30
 endstop_pin: ^!PB4
 homing_speed: 4.0
 homing_retract_dist: 2.0
@@ -105,4 +99,8 @@ custom:
 
 [printer]
 kinematics: cartesian
+max_velocity: 500
+max_accel: 3000
+max_z_velocity: 250
+max_z_accel: 30
 motor_off_time: 600

klippy/cartesian.py

@@ -13,21 +13,21 @@ class CartKinematics:
         self.steppers = [stepper.PrinterStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['x', 'y', 'z']]
+        self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
+        self.max_z_accel = config.getfloat('max_z_accel', 9999999.9)
         self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
+    def set_max_jerk(self, max_xy_halt_velocity, max_accel):
+        self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
+        self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
+        self.steppers[2].set_max_jerk(0., self.max_z_accel)
     def build_config(self):
-        for stepper in self.steppers[:2]:
-            stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
         for stepper in self.steppers:
             stepper.build_config()
     def set_position(self, newpos):
         for i in StepList:
             s = self.steppers[i]
             s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
-    def get_max_speed(self):
-        max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
-        max_xy_accel = min(s.max_accel for s in self.steppers[:2])
-        return max_xy_speed, max_xy_accel
     def get_homed_position(self, homing_state):
         pos = [None]*3
         for axis in homing_state.get_axes():
@@ -99,13 +99,9 @@ class CartKinematics:
             return
         # Move with Z - update velocity and accel for slower Z axis
         self.check_endstops(move)
-        axes_d = move.axes_d
+        z_ratio = move.move_d / abs(move.axes_d[2])
-        move_d = move.move_d
+        move.limit_speed(
-        velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
+            self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
-                               for i in StepList if axes_d[i]])
-        accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
-                            for i in StepList if axes_d[i]])
-        move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
     def move(self, move_time, move):
         if self.need_motor_enable:
             self.check_motor_enable(move_time, move)

klippy/delta.py

@@ -28,17 +28,14 @@ class DeltaKinematics:
             (cos(210.)*radius, sin(210.)*radius),
             (cos(330.)*radius, sin(330.)*radius),
             (cos(90.)*radius, sin(90.)*radius)]
-    def build_config(self):
+    def set_max_jerk(self, max_xy_halt_velocity, max_accel):
+        # XXX - this sets conservative values
         for stepper in self.steppers:
-            stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
+            stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
+    def build_config(self):
         for stepper in self.steppers:
             stepper.build_config()
         self.set_position([0., 0., 0.])
-    def get_max_speed(self):
-        # XXX - this returns conservative values
-        max_xy_speed = min(s.max_velocity for s in self.steppers)
-        max_xy_accel = min(s.max_accel for s in self.steppers)
-        return max_xy_speed, max_xy_accel
     def cartesian_to_actuator(self, coord):
         return [int((math.sqrt(self.arm_length2
                                - (self.towers[i][0] - coord[0])**2

klippy/extruder.py

@@ -11,11 +11,13 @@ class PrinterExtruder:
         self.heater = heater.PrinterHeater(printer, config)
         self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
         self.pressure_advance = config.getfloat('pressure_advance', 0.)
+        self.max_e_velocity = config.getfloat('max_velocity')
+        self.max_e_accel = config.getfloat('max_accel')
         self.need_motor_enable = True
         self.extrude_pos = 0.
     def build_config(self):
         self.heater.build_config()
-        self.stepper.set_max_jerk(9999999.9)
+        self.stepper.set_max_jerk(9999999.9, 9999999.9)
         self.stepper.build_config()
     def motor_off(self, move_time):
         self.stepper.motor_enable(move_time, 0)
@@ -28,7 +30,7 @@ class PrinterExtruder:
             and not move.axes_d[0] and not move.axes_d[1]
             and not move.axes_d[2]):
             # Extrude only move - limit accel and velocity
-            move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
+            move.limit_speed(self.max_e_velocity, self.max_e_accel)
     def move(self, move_time, move):
         if self.need_motor_enable:
             self.stepper.motor_enable(move_time, 1)

klippy/stepper.py

@@ -15,9 +15,7 @@ class PrinterStepper:
 
         self.step_dist = config.getfloat('step_distance')
         self.inv_step_dist = 1. / self.step_dist
-        self.max_velocity = config.getfloat('max_velocity')
+        self.min_stop_interval = 0.
-        self.max_accel = config.getfloat('max_accel')
-        self.max_jerk = 0.
 
         self.homing_speed = config.getfloat('homing_speed', 5.0)
         self.homing_positive_dir = config.getboolean(
@@ -47,17 +45,16 @@ class PrinterStepper:
             self.position_max = config.getfloat('position_max', 0.)
 
         self.need_motor_enable = True
-    def set_max_jerk(self, max_jerk):
+    def set_max_jerk(self, max_halt_velocity, max_accel):
-        self.max_jerk = max_jerk
+        jc = max_halt_velocity / max_accel
+        inv_max_step_accel = self.step_dist / max_accel
+        self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
+                                  - math.sqrt(inv_max_step_accel + jc**2))
     def build_config(self):
         max_error = self.config.getfloat('max_error', 0.000050)
         step_pin = self.config.get('step_pin')
         dir_pin = self.config.get('dir_pin')
-        jc = self.max_jerk / self.max_accel
+        min_stop_interval = max(0., self.min_stop_interval - max_error)
-        inv_max_step_accel = self.step_dist / self.max_accel
-        min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
-                             - math.sqrt(inv_max_step_accel + jc**2)) - max_error
-        min_stop_interval = max(0., min_stop_interval)
         mcu = self.printer.mcu
         self.mcu_stepper = mcu.create_stepper(
             step_pin, dir_pin, min_stop_interval, max_error)

klippy/toolhead.py

@@ -162,7 +162,8 @@ class ToolHead:
         kintypes = {'cartesian': cartesian.CartKinematics,
                     'delta': delta.DeltaKinematics}
         self.kin = config.getchoice('kinematics', kintypes)(printer, config)
-        self.max_speed, self.max_accel = self.kin.get_max_speed()
+        self.max_speed = config.getfloat('max_velocity')
+        self.max_accel = config.getfloat('max_accel')
         self.junction_deviation = config.getfloat('junction_deviation', 0.02)
         self.move_queue = MoveQueue()
         self.commanded_pos = [0., 0., 0., 0.]
@@ -176,6 +177,7 @@ class ToolHead:
         self.motor_off_time = self.reactor.NEVER
         self.flush_timer = self.reactor.register_timer(self.flush_handler)
     def build_config(self):
+        self.kin.set_max_jerk(0.005 * self.max_accel, self.max_accel) # XXX
         self.kin.build_config()
     # Print time tracking
     def update_move_time(self, movetime):