Commit Graph

128 Commits

Author SHA1 Message Date
Kevin O'Connor c87c090264 extruder: Calculate sane defaults for extrude only velocity and accel
Instead of requiring the user enter velocity and accel parameters for
extrude only moves, calculate sane defaults from the printer's maximum
velocity and accel.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-03 18:18:30 -05:00
Kevin O'Connor 6138d18f4b toolhead: Also call reset_print_time() on force_shutdown()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:29 -05:00
Kevin O'Connor 2e03d84755 gcode: Add support for M400 command
Add ability to fully stall the input until all moves are complete.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:28 -05:00
Kevin O'Connor f2b406fc5e toolhead: Don't call into kinematic class on extrude only moves
Add a is_kinematic_move flag to the Move class and clear it on extrude
only moves.  Don't call the kinematic check_move() or move() methods
for extrude only moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:28 -05:00
Kevin O'Connor edd7dfe1c8 gcode: Rework toolhead stalling to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-09 17:09:51 -05:00
Kevin O'Connor a6de1db94d gcode: Rework endstop query to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-09 17:09:51 -05:00
Kevin O'Connor c49d3fdb17 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>
2016-12-01 18:17:54 -05:00
Kevin O'Connor a6055ce069 gcode: Support parsing of "extended" gcode commands
Support human readable commands (eg, "help").  Add a "help" command to
list these extended commands.

Also, add support for declaring command aliases, command help, and
command availability next to the handlers themselves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-30 23:00:29 -05:00
Kevin O'Connor 2f97b2d7c2 klippy: Add ConfigWrapper.getchoice method
Add helper function that ensures a config option is one of several
choices.  This helps ensure that a proper error is raised if an
invalid choice is made.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-30 21:19:44 -05:00
Kevin O'Connor 2b5b899d35 homing: Direct stepper phase detection from kinematic classes
Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:10 -05:00
Kevin O'Connor 781cf608d7 homing: Create Homing class from gcode
Create the Homing class in the gcode handler instead of in the
kinematic classes.  This will make it easier to pass error messages
back to the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:09 -05:00
Kevin O'Connor 9e1059afb4 homing: Create QueryEndstops class from gcode
Create the QueryEndstops in the gcode handler instead of in the
kinematic classes.  This simplifies the gcode handler as it can
directly register its response callback.

Also, store the stepper name in the stepper class.  Also, propagate
the print_time of the query request to the mcu_endstop class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:09 -05:00
Kevin O'Connor 941427554a delta: Initial support for linear delta kinematics
This adds support for delta based robots.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 12:35:36 -05:00
Kevin O'Connor 9d7aa1e155 toolhead: Support calculation of cornering minimum and maximum
Calculate the next "cornering" minimum and maximum for each move.  The
"cornering minimum" is the lowest speed the head will reach
immediately after this move (with no interleaving acceleration or
cruising).  The "cornering maximum" is the maximum speed the head will
reach after the cornering minimum (with no interleaving deceleration
or cruising).

These cornering calculations will be helpful in the extruder "pressure
advance" code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 10:59:36 -04:00
Kevin O'Connor 6285cc6f66 toolhead: Simplify calculation of junction_cruise
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 10:59:36 -04:00
Kevin O'Connor 8e165fecc0 toolhead: Calculate maximum junction start when adding moves
Take into account the maximum possible start speed of a move when
calculating junction_start_max.  This simplifies the lookahead logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 10:56:47 -04:00
Kevin O'Connor 6a96e83ea9 toolhead: Store both the start and end position in the Move class
Store the start position (in addition to the existing end position) in
the Move class.  The start position can be useful to the kinematic
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-25 19:19:29 -04:00
Kevin O'Connor 275b386856 toolhead: Allow kinematics class to verify the move prior to queuing it
Introduce a check_move() method in the extruder and cartesian
kinematic classes.  This allows the lower level classes to verify the
contents of the move prior to queing that move.

The speed and acceleration handling for special Z and extrude only
moves are also moved from the generic toolhead class to the low-level
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-09-30 21:27:46 -04:00
Kevin O'Connor 0685802cb8 homing: Support querying the current status of endstops
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-09-22 11:29:27 -04:00
Kevin O'Connor a7b81dc05c toolhead: Force a firmware shutdown on an unhandled exception
Check for unhandled exceptions and force the MCU to shutdown in that
case.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-09-22 11:15:17 -04:00
Kevin O'Connor 654546e338 stepper: Support stepper phase adjustments when homing
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-28 11:22:28 -04:00
Kevin O'Connor 92f81d51f4 homing: Move low-level coordinate manipulation to kinematic class
Rework the code so that the kinematic class (currently just
cartesian.py) has more control over the homing process.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-25 23:47:30 -04:00
Kevin O'Connor c847606311 toolhead: Limit lookahead optimization to moves with similar extrude ratios
Only skip acceleration between moves if both moves perform a similar
amount of extrusion.  This ensures the extruder has sufficient time to
accelerate to and from each extrude move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-22 15:42:19 -04:00
Kevin O'Connor d3c27c514f toolhead: Add some comments to acceleration code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-16 21:33:35 -04:00
Kevin O'Connor af99ab1645 extruder: Create a new class and python file to track the printer extruder
Create a new python file (extruder.py) to control the extruder heater
and stepper motors.  This separates the extruder control logic from
the cartesian robot code - making it easier to customize both the
kinematic control of the robot as well as the extruder.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:02 -04:00
Kevin O'Connor 5829aa8bd7 toolhead: Avoid using a dummy_move for an empty move_queue
Explicitly check for when the move_queue is empty and only call
move.calc_junction() when there is a previous move.  This avoids the
need to create a dummy "sentinal" move object and it simplifies the
code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:01 -04:00
Kevin O'Connor 9bb1ae079f toolhead: Merge lookahead.py into toolhead.py
Remove the lookahead.py file and move its code directly into
toolhead.py.  The MoveQueue() class is small and tightly coupled to
the toolhead code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:01 -04:00
Kevin O'Connor e0a9a1b800 toolhead: Split toolhead code from cartesian.py to new file toolhead.py
Separate out the toolhead logic to its own python file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:48:59 -04:00