Commit Graph

62 Commits

Author SHA1 Message Date
Kevin O'Connor d9cd524aec extruder: No need to track extrude_pos locally
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-12-17 02:01:54 -05:00
Kevin O'Connor 46e7027bc7 extruder: Flush step generation on ACTIVATE_EXTRUDER
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-12-17 01:59:06 -05:00
Kevin O'Connor f4c4de1a24 extruder: Move M104/M140 commands from gcode.py to extruder.py
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-12-16 20:16:21 -05:00
Kevin O'Connor fcee27fc19 gcode: Remove builtin T0/T1/T2/... command support
The builtin Tn command is not sufficiently flexible to control some
multi-extruder printers.  Remove the command and encourage users to
define individual gcode_macros for each Tn instance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-12-10 14:24:32 -05:00
Kevin O'Connor c06618193d extruder: Add an ACTIVATE_EXTRUDER command
Add support for an extended g-code command to change the currently
active extruder.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-12-10 14:23:13 -05:00
Kevin O'Connor 080ee0b512 kin_extruder: Apply pressure advance in kin_extruder.c
Implement the pressure advance calculations while performing the
definitive integral calculations.  This simplifies both the
extruder.py and kin_extruder.c code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-12-08 20:41:35 -05:00
Kevin O'Connor 3683273936 toolhead: Report which axes are homed via get_status()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-24 20:21:13 -05:00
Kevin O'Connor 282af0220e toolhead: Report the current extruder from the get_status() method
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-24 20:21:13 -05:00
Kevin O'Connor 89d1ab7c04 extruder: Remove support for lookahead() method
Now that the extruder lookahead method is no longer used it can be
removed from the toolhead and extruder classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-21 13:18:21 -05:00
Kevin O'Connor 5f5896ad71 extruder: Add support for instantaneous corner velocity
Add mechanism to perform look-ahead between moves with different
extrusion ratios.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-21 13:18:21 -05:00
Kevin O'Connor 6d0c55b6c1 extruder: Initial support for "smoothed pressure advance"
Support averaging the extruder position over a time range to "smooth
out" the velocity changes that occur during pressure advance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-21 13:18:19 -05:00
Kevin O'Connor d00023f3bb toolhead: Support step generation in lead up to and after stepper activity
Add support for kinematic functions that calculate step times based on
a range of the motion queue.  This requires adding additional pause
times when fully flushing the motion queue.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-21 13:17:45 -05:00
Kevin O'Connor 2843c85019 toolhead: Rename _full_flush() to flush_step_generation() and use globally
Update code that modifies the low-level kinematics handlers to first
call toolhead.flush_step_generation().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-21 13:17:45 -05:00
Kevin O'Connor d38aed0773 cartesian: Report dual_carriage_rails from get_steppers()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-15 12:32:04 -05:00
Kevin O'Connor 224574da4a stepper: Add get/set_tag_position() and convert calc_position()
Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call.  This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-13 19:00:17 -05:00
Kevin O'Connor 0a39c339c7 gcode: Remove explicit active extruder tracking
There's no need to have special logic in gcode.py to track the active
extruder.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-13 11:02:26 -05:00
Kevin O'Connor a4995c61c9 stepper: Remove add_to_endstop() method
Now that the PrinterStepper and MCU_stepper classes have been merged,
there is no need for the add_to_endstop() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-12 17:32:18 -05:00
Kevin O'Connor bfb34e0701 stepper_enable: Move motor_off() logic to stepper_enable.py
Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py.  This simplifies the
toolhead and kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-12 17:32:18 -05:00
Kevin O'Connor ed610a6600 extruder: Consistently use "extruder" for the primary extruder
No longer allow the primary extruder to be named "extruder0".  This
avoids internal and external confusion between the printer objects and
config section names.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-07 16:28:47 -05:00
Kevin O'Connor 5500538fc5 toolhead: Rename register_move_handler() to register_step_generator()
Rename the function so it is more clear what the step generation code
path is.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-07 10:59:35 -05:00
Kevin O'Connor 2981bd601b extruder: Treat extrude with Z only movement to be an "extrude only" move
Do not apply max_extrude_cross_section check, and do apply
extrude_only_xxx checks to Z only moves that also extrude.  Some
printer start scripts will prime the extruder while moving the Z.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-07 09:45:36 -05:00
Kevin O'Connor 86121ff79e toolhead: Calculate and store axes_r in move class
Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r.  This avoids
needing to recalculate the value in other code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 1acaaa98c2 trapq: Remove move_fill()
Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor befd263260 toolhead: Remove kinematic move() call
Now that all kinematics use the trapq system, there is no need to call
into the kinematics on each g-code move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 9845d0d103 extruder: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 746b928c8b winch: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 4b5cbc18a4 polar: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 351b565728 delta: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor b792e0fdd1 corexy: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 7afac2b3af cartesian: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 374eb98765 polar: Implement bed angle wrapping adjustments in chelper code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Florian Heilmann f958542ebb kinematics: Add get_status() method to kinematics
Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
2019-08-09 20:49:17 -04:00
Kevin O'Connor dd34768e3a homing: Remove no longer needed homing time delay code
Now that homing is implemented via "drip moves", it is no longer
necessary to round the homing speed and it is no longer necessary to
add a delay for cpu processing time.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-07-10 10:43:20 -04:00
Kevin O'Connor e5f74a64ed polar: Add initial support for multiple bed rotations
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-06-28 10:00:40 -04:00
Kevin O'Connor e60ee861f8 extruder: Use template evaluation on gcode
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-06-07 11:38:43 -04:00
Janar Sööt 9155886c21 extruder: add get_status method
Signed-off-by: Janar Sööt <janar.soot@gmail.com>
2019-06-04 11:44:57 -04:00
Kevin O'Connor 75b73b09d6 corexy: Fix minimum halt velocity
Due to the corexy kinematics, the individual steppers may have a
velocity of sqrt(2) times faster than the cartesian velocity _and_ can
have an acceleration of sqrt(2) times faster.  Make sure to calculate
in the higher acceleration.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-03-30 14:35:18 -04:00
Kevin O'Connor 1731fbbca4 gcode: Change respond_info() to log by default
It makes sense to log most respond_info() content, so do that by
default.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-03-04 13:04:18 -05:00
Kevin O'Connor d7e8264d92 extruder: Wrap code to 80 columns
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-02-27 13:07:41 -05:00
john-- f6c9150349 heater: take a gcode_id when setting up a heater (#1028)
Allow an arbitrary gcode_id to be supplied during heater setup. This allows future extras to register additional IDs beyond B, and T#.

Signed-off-by: John Jardine <john@gprime.net>
2019-01-02 17:44:02 -05:00
Kevin O'Connor 5dc74f3152 winch: Add experimental support for cable winch kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-12-24 11:38:59 -05:00
Kevin O'Connor ec9cb3a1b3 polar: Experimental support for polar kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-12-24 11:38:59 -05:00
Kevin O'Connor 7e3e02a17a kinematics: Add a "none" debugging kinematics
Add a dummy kinematics class for development testing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-12-24 11:38:59 -05:00
Kevin O'Connor c3f916c60e delta: Make sure to clear limit_xy2 after a homing move
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-27 11:54:17 -04:00
Kevin O'Connor 936a4acd0d delta: Make sure to also exempt the homing retract move from boundary checks
Commit 459e5219 added a special case to the boundary checks to permit
homing moves.  In some cases, the second home retract could also be
outside the normal boundary checks - extend the special case to also
permit that move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-27 11:43:24 -04:00
Kevin O'Connor 97590b8e0b extruder: Don't use max_extrude_cross_section in max_extrude_only defaults
Some users increase max_extrude_cross_section to avoid issues with
some slicers.  However, increasing that value also increases the
defaults for the max_extrude_only parameters which is not obvious.
Base the max_extrude_only defaults only on the configured nozzle
diameter.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-25 19:09:47 -04:00
Kevin O'Connor d32506bd2e homing: Move homing offset adjustment logic to generic homing code
Move the "stepper phase" adjustment logic from the kinematic classes
to the generic homing.py code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 14:30:09 -04:00
Kevin O'Connor 459e521991 delta: Add a special case to the limit checks for the homing position
When a delta printer has different arm lengths or different endstop
positions then the homing position falls outside of the normal
printable area.  Add a special check to the range checking code to
permit this move instead of homing to a position near the actual
homing position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 12:18:22 -04:00
Kevin O'Connor bd1ba86839 delta: Reorganize init()
Just code movement.  Move boundary check init to after tower init.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 12:18:22 -04:00
Kevin O'Connor d4bf51231a homing: Implement second home from homing.py
Move the logic for performing the second home from the kinematics
classes to the generic homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 12:14:27 -04:00