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toolhead: Allow kinematics class to verify the move prior to queuing it

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Introduce a check_move() method in the extruder and cartesian
kinematic classes.  This allows the lower level classes to verify the
contents of the move prior to queing that move.

The speed and acceleration handling for special Z and extrude only
moves are also moved from the generic toolhead class to the low-level
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-09-30 14:47:45 -04:00
parent e9505697fb
commit 275b386856
3 changed files with 47 additions and 41 deletions
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21
klippy/cartesian.py
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@@ -22,17 +22,10 @@ class CartKinematics:
def set_position(self, newpos):
self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5)
for i in StepList]
def get_max_xy_speed(self):
def get_max_speed(self):
max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
max_xy_accel = min(s.max_accel for s in self.steppers[:2])
return max_xy_speed, max_xy_accel
def get_max_speed(self, axes_d, move_d):
# Calculate max speed and accel for a given move
velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
for i in StepList if axes_d[i]])
accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
for i in StepList if axes_d[i]])
return velocity_factor * move_d, accel_factor * move_d
def get_homed_position(self):
return [s.get_homed_position() for s in self.steppers]
def home(self, toolhead, axes):
@@ -69,6 +62,18 @@ class CartKinematics:
stepper.motor_enable(move_time, 0)
def query_endstops(self, move_time):
return homing.QueryEndstops(["x", "y", "z"], self.steppers)
def check_move(self, move):
if not move.axes_d[2]:
# Normal XY move - use defaults
return
# Move with Z - update velocity and accel for slower Z axis
axes_d = move.axes_d
move_d = move.move_d
velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
for i in StepList if axes_d[i]])
accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
for i in StepList if axes_d[i]])
move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
def move(self, move_time, move):
inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v