Commit Graph

8 Commits

Author SHA1 Message Date
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