def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2
if xy2 <= self.limit_xy2 and not move.axes_d[2]:
# Normal XY move
return
if self.need_home:
raise homing.EndstopMoveError(end_pos, "Must home first")
limit_xy2 = self.max_xy2
if end_pos[2] > self.limit_z:
limit_xy2 = min(limit_xy2, (self.max_z - end_pos[2])**2)
if xy2 > limit_xy2 or end_pos[2] < self.min_z or end_pos[
2] > self.max_z:
raise homing.EndstopMoveError(end_pos)
if move.axes_d[2]:
move.limit_speed(self.max_z_velocity, move.accel)
limit_xy2 = -1.
# Limit the speed/accel of this move if is is at the extreme
# end of the build envelope
extreme_xy2 = max(xy2, move.start_pos[0]**2 + move.start_pos[1]**2)
if extreme_xy2 > self.slow_xy2:
r = 0.5
if extreme_xy2 > self.very_slow_xy2:
r = 0.25
max_velocity = self.max_velocity
if move.axes_d[2]:
max_velocity = self.max_z_velocity
move.limit_speed(max_velocity * r, self.max_accel * r)
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def check_move(self, move):
if move.axes_d[0]:
t_pos = move.end_pos[0]
if t_pos < self.limits[0][0] or t_pos > self.limits[0][1]:
if self.limits[0][0] > self.limits[0][1]:
raise homing.EndstopMoveError(move.end_pos,
"Must home axis first")
raise homing.EndstopMoveError(move.end_pos)
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):
if (move.axes_d[i] and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise homing.EndstopMoveError(end_pos,
"Must home axis first")
raise homing.EndstopMoveError(end_pos)
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2
if xy2 > self.limit_xy2 or end_pos[2] < 0.:
if self.limit_xy2 < 0.:
raise homing.EndstopMoveError(end_pos, "Must home first")
raise homing.EndstopMoveError(end_pos)
if end_pos[2] > self.limit_z:
if end_pos[2] > self.max_z or xy2 > (self.max_z - end_pos[2])**2:
raise homing.EndstopMoveError(end_pos)
if move.axes_d[2]:
move.limit_speed(self.max_z_velocity, 9999999.9)
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_max_corner_v = 0.
if not self.heater.can_extrude:
raise homing.EndstopMoveError(
move.end_pos, "Extrude below minimum temp")
if not move.is_kinematic_move:
# Extrude only move - limit accel and velocity
if move.axes_d[3] > self.max_e_dist:
raise homing.EndstopMoveError(
move.end_pos, "Extrude only move too long")
move.limit_speed(self.max_e_velocity, self.max_e_accel)
elif move.extrude_r > self.max_extrude_ratio:
logging.debug("%s vs %s" % (move.extrude_r, self.max_extrude_ratio))
raise homing.EndstopMoveError(
move.end_pos, "Move exceeds maximum extrusion cross section")
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2
if xy2 > self.limit_xy2:
if self.limit_xy2 < 0.:
raise homing.EndstopMoveError(end_pos, "Must home axis first")
raise homing.EndstopMoveError(end_pos)
if move.axes_d[2]:
if end_pos[2] < self.limit_z[0] or end_pos[2] > self.limit_z[1]:
if self.limit_z[0] > self.limit_z[1]:
raise homing.EndstopMoveError(end_pos,
"Must home axis first")
raise homing.EndstopMoveError(end_pos)
# Move with Z - update velocity and accel for slower Z axis
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(self.max_z_velocity * z_ratio,
self.max_z_accel * z_ratio)
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_max_corner_v = 0.
if not self.heater.can_extrude:
raise homing.EndstopMoveError(move.end_pos,
"Extrude below minimum temp")
if not move.is_kinematic_move or move.extrude_r < 0.:
# Extrude only move (or retraction move) - limit accel and velocity
if abs(move.axes_d[3]) > self.max_e_dist:
raise homing.EndstopMoveError(move.end_pos,
"Extrude move too long")
inv_extrude_r = 1. / abs(move.extrude_r)
move.limit_speed(self.max_e_velocity * inv_extrude_r,
self.max_e_accel * inv_extrude_r)
elif (move.extrude_r > self.max_extrude_ratio and
move.axes_d[3] > self.nozzle_diameter * self.max_extrude_ratio):
logging.debug("Overextrude: %s vs %s" %
(move.extrude_r, self.max_extrude_ratio))
raise homing.EndstopMoveError(
move.end_pos, "Move exceeds maximum extrusion cross section")
def check_move(self, move):
end_pos = move.end_pos
end_xy2 = end_pos[0]**2 + end_pos[1]**2
if end_xy2 <= self.limit_xy2 and not move.axes_d[2]:
# Normal XY move
return
if self.need_home:
raise homing.EndstopMoveError(end_pos, "Must home first")
end_z = end_pos[2]
limit_xy2 = self.max_xy2
if end_z > self.limit_z:
limit_xy2 = min(limit_xy2, (self.max_z - end_z)**2)
if end_xy2 > limit_xy2 or end_z > self.max_z or end_z < self.min_z:
# Move out of range - verify not a homing move
if (end_pos[:2] != self.home_position[:2] or end_z < self.min_z
or end_z > self.home_position[2]):
raise homing.EndstopMoveError(end_pos)
limit_xy2 = -1.
if move.axes_d[2]:
move.limit_speed(self.max_z_velocity, move.accel)
limit_xy2 = -1.
self.limit_xy2 = limit_xy2
def check_move(self, move):
raise homing.EndstopMoveError(
move.end_pos, "Extrude when no extruder present")