Some XY moves at the extreme end of the build envelope could cause
excessive axis stepper movement. Check for any moves that could
possibly result in a stepper movement of more than 3 times the XY
movement and cap the move's acceleration and speed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the lookahead code to track both normal toolhead acceleration
as well as a pseudo acceleration to the point of deceleration. This
reduces the top speed of small zig-zag moves and it reduces printer
vibration during these moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Be more clear on which parameters have defaults and which parameters
must be specified in the config.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On a delta printer, z moves require the mcu to support the greatest
number of steps per second. However, z moves are rare, so it makes
sense to limit the velocity of z moves separately from the velocity of
normal xy moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Invert the default meaning of the stepper direction pin. Instead of
treating a low value as position motion, treat a high value as
positive motion. This matches what other firmwares do, and it matches
what common stepper motor drivers document.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
A pullup setting on an input pin (ie, '^') should enable the hardware
pullup resistor, but it should not invert the trigger level (ie, it
should remain trigger on high). Those that need to change the trigger
level (ie, trigger on low) must now do that explicitly (ie, '^!').
This makes the code match what other firmwares do.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow a config file to specify 'min_extrude_temp: 0' to disable the
minimum extrude temperature test. This makes it easier to perform
testing on the avr simulator.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the config file to specify the minimum temperature for the
extruder and check for that temperature prior to moving the extruder
motor.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Add a config option to define an amount of additional filament to feed
into the extruder during acceleration and deceleration of the
extruder. This can help ensure plastic is deposited in the correct
places during a print.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Kevin O'Connor