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extruder: Don't do pressure advance on velocity changes due to cornering

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Due to the lookahead, small changes in the direction of the toolhead
cause minor changes in toolhead velocity.  These "cornering" velocity
changes cause the current extruder code to trigger pressure advance
and its associated pressure retract.  This causes the extruder to
rapidly "jerk" the filament.

This code change updates the extruder to detect velocity changes due
solely to cornering and avoid pressure advance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-11-04 22:43:50 -04:00
parent 93dd310add
commit 345fc41482
2 changed files with 9 additions and 9 deletions
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11
klippy/extruder.py
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@@ -59,8 +59,15 @@ class PrinterExtruder:
prev_pressure_d += extra_accel_d
# Update decel and retract parameters when decelerating
if decel_t:
npd = move.end_v * move_extrude_r * self.pressure_advance
extra_decel_d = prev_pressure_d - npd
if move.corner_min:
npd = move.corner_max*move_extrude_r * self.pressure_advance
extra_decel_d = prev_pressure_d - npd
if move.end_v > move.corner_min:
extra_decel_d *= ((move.cruise_v - move.end_v)
/ (move.cruise_v - move.corner_min))
else:
npd = move.end_v * move_extrude_r * self.pressure_advance
extra_decel_d = prev_pressure_d - npd
if extra_decel_d > 0.:
extra_decel_v = extra_decel_d / decel_t
decel_v -= extra_decel_v