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toolhead: Eliminate set_max_jerk() from kinematic classes

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Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-09-03 15:17:02 -04:00
parent 0d13834293
commit 7a81bfc4a4
6 changed files with 53 additions and 45 deletions
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31
klippy/toolhead.py
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@@ -184,12 +184,7 @@ class ToolHead:
self.printer = printer
self.reactor = printer.reactor
self.mcu = printer.objects['mcu']
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_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
@@ -197,7 +192,6 @@ class ToolHead:
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(
@@ -221,12 +215,14 @@ class ToolHead:
'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)
# 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)
# Print time tracking
def update_move_time(self, movetime):
self.print_time += movetime
@@ -332,7 +328,7 @@ class ToolHead:
self.commanded_pos[:] = newpos
self.kin.set_position(newpos)
def move(self, newpos, speed):
speed = min(speed, self.max_speed)
speed = min(speed, self.max_velocity)
move = Move(self, self.commanded_pos, newpos, speed)
if not move.move_d:
return
@@ -396,6 +392,13 @@ class ToolHead:
self.reset_print_time()
except:
logging.exception("Exception in force_shutdown")
def get_max_velocity(self):
return self.max_velocity, self.max_accel
def get_max_axis_halt(self, max_accel):
# Determine the maximum velocity a cartesian axis could halt
# at due to the junction_deviation setting. The 8.0 was
# determined experimentally.
return math.sqrt(8. * self.junction_deviation * max_accel)
def add_printer_objects(printer, config):
printer.add_object('toolhead', ToolHead(printer, config))