def __init__(self, toolhead, config):
# Setup axis steppers
stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'),
units_in_radians=True)
rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
stepper_bed.setup_itersolve('polar_stepper_alloc', 'a')
rail_arm.setup_itersolve('polar_stepper_alloc', 'r')
rail_z.setup_itersolve('cartesian_stepper_alloc', 'z')
self.rails = [rail_arm, rail_z]
self.steppers = [stepper_bed
] + [s for r in self.rails for s in r.get_steppers()]
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat('max_z_velocity',
max_velocity,
above=0.,
maxval=max_velocity)
self.max_z_accel = config.getfloat('max_z_accel',
max_accel,
above=0.,
maxval=max_accel)
self.limit_z = (1.0, -1.0)
self.limit_xy2 = -1.
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
stepper_bed.set_max_jerk(max_halt_velocity, max_accel)
rail_arm.set_max_jerk(max_halt_velocity, max_accel)
rail_z.set_max_jerk(max_halt_velocity, max_accel)
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name()
shared_heater = config.get('shared_heater', None)
pheater = self.printer.lookup_object('heater')
if shared_heater is None:
self.heater = pheater.setup_heater(config)
else:
self.heater = pheater.lookup_heater(shared_heater)
self.stepper = stepper.PrinterStepper(config)
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat('filament_diameter',
minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat('max_extrude_cross_section',
4. * self.nozzle_diameter**2,
above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
logging.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio)
toolhead = self.printer.lookup_object('toolhead')
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = config.getfloat('max_extrude_only_velocity',
max_velocity *
self.max_extrude_ratio,
above=0.)
self.max_e_accel = config.getfloat('max_extrude_only_accel',
max_accel * self.max_extrude_ratio,
above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat('max_extrude_only_distance',
50.,
minval=0.)
self.activate_gcode = config.get('activate_gcode', '')
self.deactivate_gcode = config.get('deactivate_gcode', '')
self.pressure_advance = config.getfloat('pressure_advance',
0.,
minval=0.)
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True
self.extrude_pos = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.extruder_move_fill = ffi_lib.extruder_move_fill
sk = ffi_main.gc(ffi_lib.extruder_stepper_alloc(), ffi_lib.free)
self.stepper.setup_itersolve(sk)
# Setup SET_PRESSURE_ADVANCE command
gcode = self.printer.lookup_object('gcode')
if self.name in ('extruder', 'extruder0'):
gcode.register_mux_command("SET_PRESSURE_ADVANCE",
"EXTRUDER",
None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_PRESSURE_ADVANCE",
"EXTRUDER",
self.name,
self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
def __init__(self, printer, config):
self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config)
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat('filament_diameter',
minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat('max_extrude_cross_section',
4. * self.nozzle_diameter**2,
above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
toolhead = printer.objects['toolhead']
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = config.getfloat('max_extrude_only_velocity',
max_velocity *
self.max_extrude_ratio,
above=0.)
self.max_e_accel = config.getfloat('max_extrude_only_accel',
max_accel * self.max_extrude_ratio,
above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat('max_extrude_only_distance',
50.,
minval=0.)
self.activate_gcode = config.get('activate_gcode', '')
self.deactivate_gcode = config.get('deactivate_gcode', '')
self.pressure_advance = config.getfloat('pressure_advance',
0.,
minval=0.)
self.pressure_advance_lookahead_time = 0.
if self.pressure_advance:
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True
self.extrude_pos = 0.
def __init__(self, printer, config):
self.config = config
self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat('filament_diameter',
minval=self.nozzle_diameter)
filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat('max_extrude_cross_section',
4. * self.nozzle_diameter**2,
above=0.)
self.max_extrude_ratio = max_cross_section / filament_area
self.max_e_dist = config.getfloat('max_extrude_only_distance',
50.,
minval=0.)
self.max_e_velocity = self.max_e_accel = None
self.activate_gcode = config.get('activate_gcode', '')
self.deactivate_gcode = config.get('deactivate_gcode', '')
self.pressure_advance = config.getfloat('pressure_advance',
0.,
minval=0.)
self.pressure_advance_lookahead_time = 0.
if self.pressure_advance:
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True
self.extrude_pos = 0.
def __init__(self, toolhead, config):
# Setup axis steppers
stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'))
rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
stepper_bed.setup_itersolve('polar_stepper_alloc', 'a')
rail_arm.setup_itersolve('polar_stepper_alloc', 'r')
rail_z.setup_itersolve('cartesian_stepper_alloc', 'z')
self.rails = [rail_arm, rail_z]
self.steppers = [stepper_bed
] + [s for r in self.rails for s in r.get_steppers()]
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat('max_z_velocity',
max_velocity,
above=0.,
maxval=max_velocity)
self.max_z_accel = config.getfloat('max_z_accel',
max_accel,
above=0.,
maxval=max_accel)
self.need_motor_enable = True
self.limit_z = [(1.0, -1.0)]
self.limit_xy2 = -1.
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
stepper_bed.set_max_jerk(max_halt_velocity, max_accel)
rail_arm.set_max_jerk(max_halt_velocity, max_accel)
rail_z.set_max_jerk(max_halt_velocity, max_accel)
def __init__(self, toolhead, config):
# Setup steppers at each anchor
self.steppers = []
self.anchors = []
for i in range(26):
name = 'stepper_' + chr(ord('a') + i)
if i >= 3 and not config.has_section(name):
break
stepper_config = config.getsection(name)
s = stepper.PrinterStepper(stepper_config)
self.steppers.append(s)
a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz'])
self.anchors.append(a)
s.setup_itersolve('winch_stepper_alloc', *a)
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
# Setup stepper max halt velocity
max_velocity, max_accel = toolhead.get_max_velocity()
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, max_accel)
# Setup boundary checks
acoords = list(zip(*self.anchors))
self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
self.set_position([0., 0., 0.], ())
def __init__(self, config):
self.printer = config.get_printer()
if config.get('endstop_pin', None) is not None:
self.can_home = True
self.rail = stepper.PrinterRail(config,
need_position_minmax=False,
default_position_endstop=0.)
self.steppers = self.rail.get_steppers()
else:
self.can_home = False
self.rail = stepper.PrinterStepper(config)
self.steppers = [self.rail]
self.velocity = config.getfloat('velocity', 5., above=0.)
self.accel = config.getfloat('accel', 0., minval=0.)
self.next_cmd_time = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.rail.setup_itersolve('cartesian_stepper_alloc', 'x')
self.rail.set_trapq(self.trapq)
self.rail.set_max_jerk(9999999.9, 9999999.9)
# Register commands
stepper_name = config.get_name().split()[1]
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_mux_command('MANUAL_STEPPER',
"STEPPER",
stepper_name,
self.cmd_MANUAL_STEPPER,
desc=self.cmd_MANUAL_STEPPER_help)
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.pressure_advance = self.pressure_advance_smooth_time = 0.
# Setup stepper
self.stepper = stepper.PrinterStepper(config)
ffi_main, ffi_lib = chelper.get_ffi()
self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
ffi_lib.free)
self.stepper.set_stepper_kinematics(self.sk_extruder)
# Register commands
self.printer.register_event_handler("klippy:connect",
self._handle_connect)
gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder':
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
self.name, self.cmd_SET_E_STEP_DISTANCE,
desc=self.cmd_SET_E_STEP_DISTANCE_help)
gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
self.name, self.cmd_SYNC_STEPPER_TO_EXTRUDER,
desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
def __init__(self, config, extruder_num):
self.printer = config.get_printer()
self.name = config.get_name()
shared_heater = config.get('shared_heater', None)
pheater = self.printer.lookup_object('heater')
gcode_id = 'T%d' % (extruder_num,)
if shared_heater is None:
self.heater = pheater.setup_heater(config, gcode_id)
else:
self.heater = pheater.lookup_heater(shared_heater)
self.stepper = stepper.PrinterStepper(config)
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat(
'filament_diameter', minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
def_max_cross_section = 4. * self.nozzle_diameter**2
def_max_extrude_ratio = def_max_cross_section / self.filament_area
max_cross_section = config.getfloat(
'max_extrude_cross_section', def_max_cross_section, above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
logging.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio)
toolhead = self.printer.lookup_object('toolhead')
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = config.getfloat(
'max_extrude_only_velocity', max_velocity * def_max_extrude_ratio
, above=0.)
self.max_e_accel = config.getfloat(
'max_extrude_only_accel', max_accel * def_max_extrude_ratio
, above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat(
'max_extrude_only_distance', 50., minval=0.)
gcode_macro = self.printer.try_load_module(config, 'gcode_macro')
self.activate_gcode = gcode_macro.load_template(
config, 'activate_gcode', '')
self.deactivate_gcode = gcode_macro.load_template(
config, 'deactivate_gcode', '')
self.pressure_advance = config.getfloat(
'pressure_advance', 0., minval=0.)
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.extrude_pos = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.extruder_add_move = ffi_lib.extruder_add_move
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.stepper.setup_itersolve('extruder_stepper_alloc')
self.stepper.set_trapq(self.trapq)
toolhead.register_step_generator(self.stepper.generate_steps)
toolhead.register_step_generator(self._free_moves)
# Setup SET_PRESSURE_ADVANCE command
gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder':
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
def __init__(self, config):
self.printer = config.get_printer()
if config.get('endstop_pin', None) is not None:
self.can_home = True
self.stepper = stepper.PrinterRail(config,
need_position_minmax=False,
default_position_endstop=0.)
else:
self.can_home = False
self.stepper = stepper.PrinterStepper(config)
self.next_cmd_time = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
self.stepper.set_max_jerk(9999999.9, 9999999.9)
# Register commands
stepper_name = config.get_name().split()[1]
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_mux_command('MANUAL_STEPPER',
"STEPPER",
stepper_name,
self.cmd_MANUAL_STEPPER,
desc=self.cmd_MANUAL_STEPPER_help)
self.printer.register_event_handler("toolhead:motor_off",
self.handle_motor_off)
def __init__(self, config):
self.printer = printer = config.get_printer()
self.name = config.get_name()
self.logger = printer.logger.getChild(self.name)
self.config = config
self.index = int(self.name[8:])
self.heater = printer.lookup_object(config.get('heater'))
self.heater.set_min_extrude_temp(config.getfloat('min_extrude_temp',
170.0))
self.stepper = stepper.PrinterStepper(config, self.logger)
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat(
'filament_diameter', minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat(
'max_extrude_cross_section', 4. * self.nozzle_diameter**2
, above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
self.logger.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio)
self.toolhead = toolhead = printer.lookup_object('toolhead')
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = config.getfloat(
'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
, above=0.)
self.max_e_accel = config.getfloat(
'max_extrude_only_accel', max_accel * self.max_extrude_ratio
, above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat(
'max_extrude_only_distance', 50., minval=0.)
self.activate_gcode = config.get('activate_gcode', '')
self.deactivate_gcode = config.get('deactivate_gcode', '')
self.pressure_advance = config.getfloat(
'pressure_advance', 0., minval=0.)
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True
self.extrude_pos = 0.
self.raw_filament = 0.
self.extrude_factor = config.getfloat(
'extrusion_factor', 1.0, minval=0.1)
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.extruder_move_fill = ffi_lib.extruder_move_fill
sk = ffi_main.gc(ffi_lib.extruder_stepper_alloc(), ffi_lib.free)
self.stepper.setup_itersolve(sk)
# Setup SET_PRESSURE_ADVANCE command
gcode = self.printer.lookup_object('gcode')
if self.name in ('extruder', 'extruder0'):
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
for key in [self.name.upper(), str(self.index)]:
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", key,
self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
self.logger.debug("index={}, heater={}".
format(self.index, self.heater.name))
def __init__(self, config):
self.printer = config.get_printer()
self.extruder_name = config.get('extruder', 'extruder')
self.stepper = stepper.PrinterStepper(config)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.stepper.setup_itersolve('extruder_stepper_alloc')
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
def __init__(self, printer, config):
self.steppers = [
stepper.PrinterStepper(printer, config.getsection('stepper_' + n),
n) for n in ['x', 'y', 'z']
]
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
self.max_z_accel = config.getfloat('max_z_accel', 9999999.9)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
def __init__(self, config):
self.printer = config.get_printer()
stepper_name = config.get_name().split()[1]
self.extruder_name = config.get('extruder', 'extruder')
self.stepper = stepper.PrinterStepper(config)
self.stepper.setup_itersolve('extruder_stepper_alloc')
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER",
"STEPPER",
stepper_name,
self.cmd_SYNC_STEPPER_TO_EXTRUDER,
desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
def __init__(self, printer, config):
self.config = config
self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
nozzle_diameter = config.getfloat('nozzle_diameter')
filament_diameter = config.getfloat('filament_diameter')
filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat(
'max_extrude_cross_section', 4. * nozzle_diameter**2)
self.max_extrude_ratio = max_cross_section / filament_area
self.max_e_dist = config.getfloat('max_extrude_only_distance', 50.)
self.max_e_velocity = self.max_e_accel = None
self.pressure_advance = config.getfloat('pressure_advance', 0.)
self.need_motor_enable = True
self.extrude_pos = 0.
def __init__(self, printer, config):
self.config = config
self.steppers = [
stepper.PrinterStepper(printer, config.getsection('stepper_' + n),
n) for n in ['a', 'b', 'c']
]
self.need_motor_enable = self.need_home = True
self.max_velocity = self.max_z_velocity = self.max_accel = 0.
radius = config.getfloat('delta_radius', above=0.)
arm_length = config.getfloat('delta_arm_length', above=radius)
self.arm_length2 = arm_length**2
self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = min([s.position_endstop for s in self.steppers])
self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" %
(self.max_z, self.limit_z))
# Determine tower locations in cartesian space
angles = [
config.getsection('stepper_a').getfloat('angle', 210.),
config.getsection('stepper_b').getfloat('angle', 330.),
config.getsection('stepper_c').getfloat('angle', 90.)
]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in angles]
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
def ratio_to_dist(ratio):
return (
ratio * math.sqrt(self.arm_length2 /
(ratio**2 + 1.) - half_min_step_dist**2) +
half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
self.max_xy2 = min(radius, arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
logging.info(
"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
% (math.sqrt(self.max_xy2), math.sqrt(
self.slow_xy2), math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
def __init__(self, printer, config):
self.printer = printer
self.name = config.get_name()
shared_heater = config.get('shared_heater', None)
pheater = printer.lookup_object('heater')
if shared_heater is None:
self.heater = pheater.setup_heater(config)
else:
self.heater = pheater.lookup_heater(shared_heater)
self.stepper = stepper.PrinterStepper(printer, config)
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat('filament_diameter',
minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat('max_extrude_cross_section',
4. * self.nozzle_diameter**2,
above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
toolhead = printer.lookup_object('toolhead')
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = config.getfloat('max_extrude_only_velocity',
max_velocity *
self.max_extrude_ratio,
above=0.)
self.max_e_accel = config.getfloat('max_extrude_only_accel',
max_accel * self.max_extrude_ratio,
above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat('max_extrude_only_distance',
50.,
minval=0.)
self.activate_gcode = config.get('activate_gcode', '')
self.deactivate_gcode = config.get('deactivate_gcode', '')
self.pressure_advance = config.getfloat('pressure_advance',
0.,
minval=0.)
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True
self.extrude_pos = 0.
self.printer.lookup_object('gcode').register_command(
"SET_PRESSURE_ADVANCE",
self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
def __init__(self, printer, config):
self.steppers = [
stepper.PrinterStepper(printer, config.getsection('stepper_' + n),
n) for n in ['a', 'b', 'c']
]
self.need_motor_enable = True
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
radius = config.getfloat('delta_radius')
arm_length = config.getfloat('delta_arm_length')
self.arm_length2 = arm_length**2
self.max_xy2 = min(radius, arm_length - radius)**2
self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = self.steppers[0].position_max
self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
sin = lambda angle: math.sin(math.radians(angle))
cos = lambda angle: math.cos(math.radians(angle))
self.towers = [(cos(210.) * radius, sin(210.) * radius),
(cos(330.) * radius, sin(330.) * radius),
(cos(90.) * radius, sin(90.) * radius)]
def __init__(self, toolhead, config):
# Setup steppers at each anchor
self.steppers = []
self.anchors = []
for i in range(26):
name = 'stepper_' + chr(ord('a') + i)
if i >= 3 and not config.has_section(name):
break
stepper_config = config.getsection(name)
s = stepper.PrinterStepper(stepper_config)
self.steppers.append(s)
a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz'])
self.anchors.append(a)
s.setup_itersolve('winch_stepper_alloc', *a)
# Setup stepper max halt velocity
max_velocity, max_accel = toolhead.get_max_velocity()
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, max_accel)
# Setup boundary checks
self.need_motor_enable = True
self.set_position([0., 0., 0.], ())
def __init__(self, config, extruder_num):
self.printer = config.get_printer()
self.name = config.get_name()
shared_heater = config.get('shared_heater', None)
pheater = self.printer.lookup_object('heater')
gcode_id = 'T%d' % (extruder_num, )
if shared_heater is None:
self.heater = pheater.setup_heater(config, gcode_id)
else:
self.heater = pheater.lookup_heater(shared_heater)
self.stepper = stepper.PrinterStepper(config)
self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat('filament_diameter',
minval=self.nozzle_diameter)
self.filament_area = math.pi * (filament_diameter * .5)**2
def_max_cross_section = 4. * self.nozzle_diameter**2
def_max_extrude_ratio = def_max_cross_section / self.filament_area
max_cross_section = config.getfloat('max_extrude_cross_section',
def_max_cross_section,
above=0.)
self.max_extrude_ratio = max_cross_section / self.filament_area
logging.info("Extruder max_extrude_ratio=%.6f", self.max_extrude_ratio)
toolhead = self.printer.lookup_object('toolhead')
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_e_velocity = config.getfloat('max_extrude_only_velocity',
max_velocity *
def_max_extrude_ratio,
above=0.)
self.max_e_accel = config.getfloat('max_extrude_only_accel',
max_accel * def_max_extrude_ratio,
above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.max_e_dist = config.getfloat('max_extrude_only_distance',
50.,
minval=0.)
self.instant_corner_v = config.getfloat(
'instantaneous_corner_velocity', 1., minval=0.)
self.pressure_advance = self.pressure_advance_smooth_time = 0.
pressure_advance = config.getfloat('pressure_advance', 0., minval=0.)
smooth_time = config.getfloat('pressure_advance_smooth_time',
0.040,
above=0.,
maxval=.200)
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
ffi_lib.free)
self.stepper.set_stepper_kinematics(self.sk_extruder)
self.stepper.set_trapq(self.trapq)
toolhead.register_step_generator(self.stepper.generate_steps)
self.extruder_set_smooth_time = ffi_lib.extruder_set_smooth_time
self._set_pressure_advance(pressure_advance, smooth_time)
# Register commands
gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder':
toolhead.set_extruder(self, 0.)
gcode.register_command("M104", self.cmd_M104)
gcode.register_command("M109", self.cmd_M109)
gcode.register_mux_command("SET_PRESSURE_ADVANCE",
"EXTRUDER",
None,
self.cmd_default_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_PRESSURE_ADVANCE",
"EXTRUDER",
self.name,
self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("ACTIVATE_EXTRUDER",
"EXTRUDER",
self.name,
self.cmd_ACTIVATE_EXTRUDER,
desc=self.cmd_ACTIVATE_EXTRUDER_help)
