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toolhead: Initial support for adding extra axes to toolhead moves

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Add a new add_extra_axes() to support adding additional axes.  Once
called, toolhead.get_position() will return a list object with more
than 4 items, and toolhead.move() requires the same size list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-03-21 22:14:13 -04:00
parent 9dbfc76d9d
commit bb281834b0
2 changed files with 61 additions and 32 deletions
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66
klippy/toolhead.py
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@@ -21,14 +21,14 @@ class Move:
self.timing_callbacks = []
velocity = min(speed, toolhead.max_velocity)
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
self.axes_d = axes_d = [ep - sp for sp, ep in zip(start_pos, end_pos)]
self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
if move_d < .000000001:
# Extrude only move
self.end_pos = (start_pos[0], start_pos[1], start_pos[2],
end_pos[3])
self.end_pos = ((start_pos[0], start_pos[1], start_pos[2])
+ self.end_pos[3:])
axes_d[0] = axes_d[1] = axes_d[2] = 0.
self.move_d = move_d = abs(axes_d[3])
self.move_d = move_d = max([abs(ad) for ad in axes_d[3:]])
inv_move_d = 0.
if move_d:
inv_move_d = 1. / move_d
@@ -65,11 +65,13 @@ class Move:
def calc_junction(self, prev_move):
if not self.is_kinematic_move or not prev_move.is_kinematic_move:
return
# Allow extruder to calculate its maximum junction
extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
max_start_v2 = min(extruder_v2, self.max_cruise_v2,
prev_move.max_cruise_v2, prev_move.next_junction_v2,
prev_move.max_start_v2 + prev_move.delta_v2)
# Allow extra axes to calculate maximum junction
ea_v2 = [ea.calc_junction(prev_move, self, e_index+3)
for e_index, ea in enumerate(self.toolhead.extra_axes)]
max_start_v2 = min([self.max_cruise_v2,
prev_move.max_cruise_v2, prev_move.next_junction_v2,
prev_move.max_start_v2 + prev_move.delta_v2]
+ ea_v2)
# Find max velocity using "approximated centripetal velocity"
axes_r = self.axes_r
prev_axes_r = prev_move.axes_r
@@ -263,7 +265,8 @@ class ToolHead:
# Create kinematics class
gcode = self.printer.lookup_object('gcode')
self.Coord = gcode.Coord
self.extruder = kinematics.extruder.DummyExtruder(self.printer)
extruder = kinematics.extruder.DummyExtruder(self.printer)
self.extra_axes = [extruder]
kin_name = config.get('kinematics')
try:
mod = importlib.import_module('kinematics.' + kin_name)
@@ -351,8 +354,9 @@ class ToolHead:
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_r[0], move.axes_r[1], move.axes_r[2],
move.start_v, move.cruise_v, move.accel)
if move.axes_d[3]:
self.extruder.process_move(next_move_time, move)
for e_index, ea in enumerate(self.extra_axes):
if move.axes_d[e_index + 3]:
ea.process_move(next_move_time, move, e_index + 3)
next_move_time = (next_move_time + move.accel_t
+ move.cruise_t + move.decel_t)
for cb in move.timing_callbacks:
@@ -472,8 +476,9 @@ class ToolHead:
return
if move.is_kinematic_move:
self.kin.check_move(move)
if move.axes_d[3]:
self.extruder.check_move(move)
for e_index, ea in enumerate(self.extra_axes):
if move.axes_d[e_index + 3]:
ea.check_move(move, e_index + 3)
self.commanded_pos[:] = move.end_pos
want_flush = self.lookahead.add_move(move)
if want_flush:
@@ -500,16 +505,38 @@ class ToolHead:
break
eventtime = self.reactor.pause(eventtime + 0.100)
def set_extruder(self, extruder, extrude_pos):
prev_ea_trapq = self.extruder.get_trapq()
# XXX - should use add_extra_axis
prev_ea_trapq = self.extra_axes[0].get_trapq()
if prev_ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(prev_ea_trapq)
self.extruder = extruder
self.extra_axes[0] = extruder
self.commanded_pos[3] = extrude_pos
ea_trapq = extruder.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
def get_extruder(self):
return self.extruder
return self.extra_axes[0]
def add_extra_axis(self, ea, axis_pos):
self._flush_lookahead()
self.extra_axes.append(ea)
self.commanded_pos.append(axis_pos)
ea_trapq = ea.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
self.printer.send_event("toolhead:update_extra_axes")
def remove_extra_axis(self, ea):
self._flush_lookahead()
if ea not in self.extra_axes:
return
ea_index = self.extra_axes.index(ea) + 3
ea_trapq = ea.get_trapq()
if ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(ea_trapq)
self.commanded_pos.pop(ea_index)
self.extra_axes.pop(ea_index - 3)
self.printer.send_event("toolhead:update_extra_axes")
def get_extra_axes(self):
return [None, None, None] + self.extra_axes
# Homing "drip move" handling
def drip_update_time(self, next_print_time, drip_completion, addstepper=()):
# Transition from "NeedPrime"/"Priming"/main state to "Drip" state
@@ -593,12 +620,13 @@ class ToolHead:
def get_status(self, eventtime):
print_time = self.print_time
estimated_print_time = self.mcu.estimated_print_time(eventtime)
extruder = self.extra_axes[0]
res = dict(self.kin.get_status(eventtime))
res.update({ 'print_time': print_time,
'stalls': self.print_stall,
'estimated_print_time': estimated_print_time,
'extruder': self.extruder.get_name(),
'position': self.Coord(*self.commanded_pos),
'extruder': extruder.get_name(),
'position': self.Coord(*self.commanded_pos[:4]),
'max_velocity': self.max_velocity,
'max_accel': self.max_accel,
'minimum_cruise_ratio': self.min_cruise_ratio,