def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor
self.extruder = printer.objects.get('extruder')
if self.extruder is None:
self.extruder = extruder.DummyExtruder()
kintypes = {'cartesian': cartesian.CartKinematics,
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(printer, config)
self.max_speed = config.getfloat('max_velocity')
self.max_accel = config.getfloat('max_accel')
self.max_accel_to_decel = config.getfloat('max_accel_to_decel'
, self.max_accel * 0.5)
self.junction_deviation = config.getfloat('junction_deviation', 0.02)
self.move_queue = MoveQueue(self.extruder.lookahead)
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
self.buffer_time_high = config.getfloat('buffer_time_high', 5.000)
self.buffer_time_low = config.getfloat('buffer_time_low', 0.150)
self.move_flush_time = config.getfloat('move_flush_time', 0.050)
self.motor_off_delay = config.getfloat('motor_off_time', 60.000)
self.print_time = 0.
self.need_check_stall = -1.
self.print_time_stall = 0
self.motor_off_time = self.reactor.NEVER
self.flush_timer = self.reactor.register_timer(self._flush_handler)
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor
self.extruder = extruder.DummyExtruder()
kintypes = {
'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics
}
self.kin = config.getchoice('kinematics', kintypes)(printer, config)
self.max_speed = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
self.max_accel_to_decel = config.getfloat('max_accel_to_decel',
self.max_accel * 0.5,
above=0.,
maxval=self.max_accel)
self.junction_deviation = config.getfloat('junction_deviation',
0.02,
above=0.)
self.move_queue = MoveQueue()
self.move_queue.set_extruder(self.extruder)
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
self.buffer_time_low = config.getfloat('buffer_time_low',
1.000,
above=0.)
self.buffer_time_high = config.getfloat('buffer_time_high',
2.000,
above=self.buffer_time_low)
self.buffer_time_start = config.getfloat('buffer_time_start',
0.250,
above=0.)
self.move_flush_time = config.getfloat('move_flush_time',
0.050,
above=0.)
self.print_time = 0.
self.last_print_end_time = self.reactor.monotonic()
self.need_check_stall = -1.
self.print_stall = 0
self.synch_print_time = True
self.forced_synch = False
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.move_queue.set_flush_time(self.buffer_time_high)
# Motor off tracking
self.motor_off_time = config.getfloat('motor_off_time',
600.000,
minval=0.)
self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler)
# Determine the maximum velocity a cartesian axis could have
# before cornering. The 8. was determined experimentally.
xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
for e in extruder.get_printer_extruders(printer):
e.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.get_reactor()
self.all_mcus = printer.lookup_module_objects('mcu')
self.mcu = self.all_mcus[0]
self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
self.max_accel_to_decel = config.getfloat('max_accel_to_decel',
self.max_accel * 0.5,
above=0.,
maxval=self.max_accel)
self.junction_deviation = config.getfloat('junction_deviation',
0.02,
minval=0.)
self.move_queue = MoveQueue()
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
self.buffer_time_low = config.getfloat('buffer_time_low',
1.000,
above=0.)
self.buffer_time_high = config.getfloat('buffer_time_high',
2.000,
above=self.buffer_time_low)
self.buffer_time_start = config.getfloat('buffer_time_start',
0.250,
above=0.)
self.move_flush_time = config.getfloat('move_flush_time',
0.050,
above=0.)
self.print_time = 0.
self.last_print_start_time = 0.
self.need_check_stall = -1.
self.print_stall = 0
self.sync_print_time = True
self.idle_flush_print_time = 0.
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.move_queue.set_flush_time(self.buffer_time_high)
# Motor off tracking
self.need_motor_off = False
self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.)
self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler, self.reactor.NOW)
# Create kinematics class
self.extruder = extruder.DummyExtruder()
self.move_queue.set_extruder(self.extruder)
kintypes = {
'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics
}
self.kin = config.getchoice('kinematics', kintypes)(self, printer,
config)
def __init__(self, config):
self.printer = printer = config.get_printer()
self.logger = printer.logger.getChild('toolhead')
self.logger.info("toolhead '{}' created".format(config.section))
self.reactor = printer.get_reactor()
self.all_mcus = printer.lookup_module_objects('mcu')
self.mcu = self.all_mcus[0]
self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
self.max_accel_to_decel_ratio = config.getfloat(
'max_accel_to_decel_ratio', default=1.0, above=0.,
maxval=1.)
max_accel_to_decel = config.getfloat(
'max_accel_to_decel', default=None
, above=0., maxval=self.max_accel)
if max_accel_to_decel is None:
max_accel_to_decel = self.max_accel * self.max_accel_to_decel_ratio
self.max_accel_to_decel = min(max_accel_to_decel, self.max_accel)
self.junction_deviation = config.getfloat(
'junction_deviation', 0.02, minval=0.)
self.config_max_velocity = self.max_velocity
self.config_max_accel = self.max_accel
self.config_junction_deviation = self.junction_deviation
self.move_queue = MoveQueue()
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
self.buffer_time_low = config.getfloat(
'buffer_time_low', 1.000, above=0.)
self.buffer_time_high = config.getfloat(
'buffer_time_high', 2.000, above=self.buffer_time_low)
self.buffer_time_start = config.getfloat(
'buffer_time_start', 0.250, above=0.)
self.move_flush_time = config.getfloat(
'move_flush_time', 0.050, above=0.)
self.print_time = 0.
self.last_print_start_time = 0.
self.need_check_stall = -1.
self.print_stall = 0
self.sync_print_time = True
self.idle_flush_print_time = 0.
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.move_queue.set_flush_time(self.buffer_time_high)
# Motor off tracking
self.need_motor_off = False
self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.)
self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler, self.reactor.NOW)
# Create kinematics class
self.extruder = extruder.DummyExtruder()
self.move_queue.set_extruder(self.extruder)
self.homing_order = config.get('homing_order', 'XYZ').upper()
self.require_home_after_motor_off = config.getboolean(
'require_home_after_motor_off', True)
self.sw_limit_check_enabled = config.getboolean(
'sw_limit_check_enabled', True)
self.allow_move_wo_homing = config.getboolean(
'allow_move_without_home', False)
kintypes = {'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'coreyx': corexy.CoreYXKinematics,
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(self, config)
# Pause/Idle position
self.idle_position = idle_position = config.get('idle_position', default='')
if not idle_position:
idle_x = config.getfloat("idle_position_x", default=.0)
idle_y = config.getfloat("idle_position_y", default=.0)
idle_z_lift = config.getfloat("idle_position_z_lift", default=.4)
idle_travel_s = config.getint("idle_position_travel_speed", default=6000)
moves = []
if idle_z_lift:
moves.append("G1 Z%s F%s" % (idle_z_lift, idle_travel_s))
moves.append("G1 X%s Y%s F%s" % (idle_x, idle_y, idle_travel_s))
self.idle_position = "\n".join(moves)
self.logger.info("Idle position: X:%s Y:%s Zlift:%s" % (
idle_x, idle_y, idle_z_lift))
else:
self.logger.info("Idle position script: '%s'" %
self.idle_position.replace("\n", ", "))
# SET_VELOCITY_LIMIT command
gcode = self.printer.lookup_object('gcode')
gcode.register_command('SET_VELOCITY_LIMIT', self.cmd_SET_VELOCITY_LIMIT,
desc=self.cmd_SET_VELOCITY_LIMIT_help)
gcode.register_command('M204', self.cmd_M204, desc=self.cmd_M204_help)
gcode.register_command('IDLE_POSITION', self.move_to_idle_pos,
desc="Move head to defined idle position")
self.logger.info("Kinematic created: %s" % self.kin.name)
self.logger.info("max_accel: %s" % (self.max_accel,))
self.logger.info("max_accel_to_decel: %s" % (self.max_accel_to_decel,))
self.motor_cbs = []
self.z_hop_detect_cntr = 0
self.z_hop_detect = None
self.layer_change_cb = []
