Avoid mixing the travel distance of the head (and its associated
velocity and acceleration) with the distance the filament moves.
Instead, use the filament travel distance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The existing code calculates the number of steps in a move and then
spreads them out evenly throughout that move. Change the code so that
step timing is based on where the head is commanded to be relative to
the stepper step locations. This makes the timing more accurate - in
particular the stepper velocities will be more accurate during
cornering introduced by the lookahead code. It also results in
slightly smoother stepper motion which results in better step
compression.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't use step_dist for the "distance along the line of movement per
step" as it's too similar to the stepper.step_dist variable. Use the
name "move_step_d" instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
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>
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>
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>
Allow the owner of the stepper object to cacluate the maximum step
jerk velocity. This is used to ensure there is no communication error
between mcu and host.
Disable checking of jerk velocity for extruder stepper motors.
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