Commit | Line | Data |
---|---|---|
ca037905 | 1 | /* |
58baeec1 MM |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
cd011f58 AW |
6 | */ |
7 | ||
5673fe39 MM |
8 | #include "Extruder.h" |
9 | ||
4cff3ded AW |
10 | #include "libs/Module.h" |
11 | #include "libs/Kernel.h" | |
5673fe39 | 12 | |
3fceb8eb | 13 | #include "modules/robot/Conveyor.h" |
4cff3ded | 14 | #include "modules/robot/Block.h" |
5673fe39 | 15 | #include "StepperMotor.h" |
61134a65 JM |
16 | #include "SlowTicker.h" |
17 | #include "Stepper.h" | |
18 | #include "StepTicker.h" | |
19 | #include "Config.h" | |
20 | #include "StepperMotor.h" | |
21 | #include "Robot.h" | |
7af0714f | 22 | #include "checksumm.h" |
8d54c34c | 23 | #include "ConfigValue.h" |
66383b80 | 24 | #include "Gcode.h" |
fc7b9a7b | 25 | #include "libs/StreamOutput.h" |
5673fe39 | 26 | |
5dcb2ff3 | 27 | #include <mri.h> |
4cff3ded | 28 | |
43424972 JM |
29 | #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable") |
30 | #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm") | |
31 | #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration") | |
32 | #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin") | |
33 | #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin") | |
34 | #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin") | |
35 | #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed") | |
36 | ||
37 | #define extruder_checksum CHECKSUM("extruder") | |
38 | ||
39 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
40 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
41 | #define acceleration_checksum CHECKSUM("acceleration") | |
42 | #define step_pin_checksum CHECKSUM("step_pin") | |
43 | #define dir_pin_checksum CHECKSUM("dir_pin") | |
44 | #define en_pin_checksum CHECKSUM("en_pin") | |
45 | #define max_speed_checksum CHECKSUM("max_speed") | |
8adf2390 L |
46 | #define x_offset_checksum CHECKSUM("x_offset") |
47 | #define y_offset_checksum CHECKSUM("y_offset") | |
48 | #define z_offset_checksum CHECKSUM("z_offset") | |
49 | ||
50 | #define X_AXIS 0 | |
51 | #define Y_AXIS 1 | |
52 | #define Z_AXIS 2 | |
43424972 | 53 | |
17c89e4d JM |
54 | #define OFF 0 |
55 | #define SOLO 1 | |
56 | #define FOLLOW 2 | |
57 | ||
41fd89e0 JM |
58 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
59 | ||
58baeec1 MM |
60 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
61 | * It can work in two modes : either the head does not move, and the extruder moves the filament at a specified speed ( SOLO mode here ) | |
62 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
63 | */ |
64 | ||
17c89e4d JM |
65 | Extruder::Extruder( uint16_t config_identifier, bool single ) |
66 | { | |
436a2cd1 | 67 | this->absolute_mode = true; |
540c8365 | 68 | this->enabled = false; |
14ecdbd7 | 69 | this->paused = false; |
17c89e4d | 70 | this->single_config = single; |
14ecdbd7 | 71 | this->identifier = config_identifier; |
8adf2390 | 72 | |
17c89e4d | 73 | memset(this->offset, sizeof(this->offset), 0); |
436a2cd1 | 74 | } |
4cff3ded | 75 | |
17c89e4d JM |
76 | void Extruder::on_module_loaded() |
77 | { | |
f5598f5b | 78 | |
4cff3ded | 79 | // Settings |
da24d6ae | 80 | this->on_config_reload(this); |
4cff3ded AW |
81 | |
82 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one | |
476dcb96 | 83 | register_for_event(ON_CONFIG_RELOAD); |
4cff3ded AW |
84 | this->register_for_event(ON_BLOCK_BEGIN); |
85 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 86 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 87 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
88 | this->register_for_event(ON_PLAY); |
89 | this->register_for_event(ON_PAUSE); | |
be8332cd | 90 | this->register_for_event(ON_SPEED_CHANGE); |
ca037905 | 91 | |
ded56b35 | 92 | // Start values |
4cff3ded AW |
93 | this->target_position = 0; |
94 | this->current_position = 0; | |
150bce10 | 95 | this->unstepped_distance = 0; |
4cff3ded | 96 | this->current_block = NULL; |
ded56b35 | 97 | this->mode = OFF; |
ca037905 | 98 | |
ded56b35 | 99 | // Update speed every *acceleration_ticks_per_second* |
7b49793d | 100 | // TODO: Make this an independent setting |
314ab8f7 | 101 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick ); |
ded56b35 | 102 | |
be8332cd | 103 | // Stepper motor object for the extruder |
9c5fa39a | 104 | this->stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) ); |
58baeec1 | 105 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); |
3b1e82d2 | 106 | |
4cff3ded AW |
107 | } |
108 | ||
2bb8b390 | 109 | // Get config |
17c89e4d JM |
110 | void Extruder::on_config_reload(void *argument) |
111 | { | |
58baeec1 | 112 | |
17c89e4d JM |
113 | if( this->single_config ) { |
114 | // If this module uses the old "single extruder" configuration style | |
14ecdbd7 | 115 | |
314ab8f7 MM |
116 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
117 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); | |
118 | this->max_speed = THEKERNEL->config->value(extruder_max_speed_checksum )->by_default(1000)->as_number(); | |
119 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 120 | |
314ab8f7 MM |
121 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
122 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
123 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 | 124 | |
17c89e4d | 125 | for(int i = 0; i < 3; i++) { |
8adf2390 L |
126 | this->offset[i] = 0; |
127 | } | |
128 | ||
540c8365 L |
129 | this->enabled = true; |
130 | ||
17c89e4d JM |
131 | } else { |
132 | // If this module was created with the new multi extruder configuration style | |
14ecdbd7 | 133 | |
17c89e4d JM |
134 | this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
135 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); | |
136 | this->max_speed = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum )->by_default(1000)->as_number(); | |
137 | this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 138 | |
17c89e4d JM |
139 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
140 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
141 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
8adf2390 | 142 | |
17c89e4d JM |
143 | this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number(); |
144 | this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number(); | |
145 | this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number(); | |
14ecdbd7 AW |
146 | } |
147 | ||
436a2cd1 AW |
148 | } |
149 | ||
81b547a1 AW |
150 | |
151 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
17c89e4d JM |
152 | void Extruder::on_pause(void *argument) |
153 | { | |
81b547a1 | 154 | this->paused = true; |
83ecfc46 | 155 | this->stepper_motor->pause(); |
81b547a1 AW |
156 | } |
157 | ||
158 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
17c89e4d JM |
159 | void Extruder::on_play(void *argument) |
160 | { | |
81b547a1 | 161 | this->paused = false; |
83ecfc46 | 162 | this->stepper_motor->unpause(); |
81b547a1 AW |
163 | } |
164 | ||
5dcb2ff3 | 165 | |
17c89e4d JM |
166 | void Extruder::on_gcode_received(void *argument) |
167 | { | |
168 | Gcode *gcode = static_cast<Gcode *>(argument); | |
5dcb2ff3 AW |
169 | |
170 | // Gcodes to execute immediately | |
17c89e4d JM |
171 | if (gcode->has_m) { |
172 | if (gcode->m == 114 && this->enabled) { | |
4d9f562f | 173 | char buf[16]; |
17c89e4d | 174 | int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position); |
4d9f562f | 175 | gcode->txt_after_ok.append(buf, n); |
74b6303c | 176 | gcode->mark_as_taken(); |
33e4cc02 | 177 | |
17c89e4d | 178 | } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) { |
1ad23cd3 | 179 | float spm = this->steps_per_millimeter; |
4cba6755 | 180 | if (gcode->has_letter('E')){ |
7369629d | 181 | spm = gcode->get_value('E'); |
4cba6755 JM |
182 | this->steps_per_millimeter = spm; |
183 | } | |
184 | ||
7369629d MM |
185 | gcode->stream->printf("E:%g ", spm); |
186 | gcode->add_nl = true; | |
74b6303c | 187 | gcode->mark_as_taken(); |
33e4cc02 | 188 | |
17c89e4d | 189 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
4710532a | 190 | if( this->single_config ) { |
17c89e4d | 191 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter); |
4710532a | 192 | } else { |
17c89e4d JM |
193 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier); |
194 | } | |
33e4cc02 | 195 | gcode->mark_as_taken(); |
f2f0dfed | 196 | return; |
7369629d | 197 | } |
6989211c | 198 | } |
8519d744 | 199 | |
5dcb2ff3 | 200 | // Gcodes to pass along to on_gcode_execute |
4cba6755 | 201 | if( ( gcode->has_m && (gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) ) || ( gcode->has_g && gcode->g == 92 && gcode->has_letter('E') ) || ( gcode->has_g && ( gcode->g == 90 || gcode->g == 91 ) ) ) { |
e0ee24ed | 202 | THEKERNEL->conveyor->append_gcode(gcode); |
3c4f2dd8 AW |
203 | } |
204 | ||
205 | // Add to the queue for on_gcode_execute to process | |
17c89e4d JM |
206 | if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') && this->enabled ) { |
207 | if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) { | |
e0ee24ed | 208 | THEKERNEL->conveyor->append_gcode(gcode); |
518e225f | 209 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time |
2134bcf2 | 210 | THEKERNEL->conveyor->queue_head_block(); |
3c4f2dd8 | 211 | } |
17c89e4d | 212 | } else { |
d149c730 AW |
213 | // This is for follow move |
214 | ||
3c4f2dd8 AW |
215 | } |
216 | } | |
217 | ||
ded56b35 | 218 | // Compute extrusion speed based on parameters and gcode distance of travel |
17c89e4d JM |
219 | void Extruder::on_gcode_execute(void *argument) |
220 | { | |
221 | Gcode *gcode = static_cast<Gcode *>(argument); | |
ca037905 | 222 | |
436a2cd1 | 223 | // Absolute/relative mode |
17c89e4d JM |
224 | if( gcode->has_m ) { |
225 | if( gcode->m == 17 ) { | |
226 | this->en_pin.set(0); | |
227 | } | |
228 | if( gcode->m == 18 ) { | |
229 | this->en_pin.set(1); | |
230 | } | |
231 | if( gcode->m == 82 ) { | |
232 | this->absolute_mode = true; | |
233 | } | |
234 | if( gcode->m == 83 ) { | |
235 | this->absolute_mode = false; | |
236 | } | |
237 | if( gcode->m == 84 ) { | |
238 | this->en_pin.set(1); | |
239 | } | |
ca037905 MM |
240 | } |
241 | ||
242 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude | |
ded56b35 | 243 | this->mode = OFF; |
ca037905 | 244 | |
17c89e4d | 245 | if( gcode->has_g ) { |
7b49793d | 246 | // G92: Reset extruder position |
17c89e4d | 247 | if( gcode->g == 92 && this->enabled ) { |
74b6303c | 248 | gcode->mark_as_taken(); |
17c89e4d | 249 | if( gcode->has_letter('E') ) { |
e2b4a32b | 250 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 251 | this->target_position = this->current_position; |
150bce10 | 252 | this->unstepped_distance = 0; |
17c89e4d | 253 | } else if( gcode->get_num_args() == 0) { |
b2aa3a55 L |
254 | this->current_position = 0.0; |
255 | this->target_position = this->current_position; | |
150bce10 | 256 | this->unstepped_distance = 0; |
ca037905 | 257 | } |
17c89e4d | 258 | } else if (((gcode->g == 0) || (gcode->g == 1)) && this->enabled) { |
ca037905 | 259 | // Extrusion length from 'G' Gcode |
17c89e4d | 260 | if( gcode->has_letter('E' )) { |
ca037905 | 261 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
1ad23cd3 MM |
262 | float extrusion_distance = gcode->get_value('E'); |
263 | float relative_extrusion_distance = extrusion_distance; | |
17c89e4d | 264 | if (this->absolute_mode) { |
f8dc0043 MM |
265 | relative_extrusion_distance -= this->target_position; |
266 | this->target_position = extrusion_distance; | |
17c89e4d | 267 | } else { |
f8dc0043 MM |
268 | this->target_position += relative_extrusion_distance; |
269 | } | |
ca037905 | 270 | |
ded56b35 | 271 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
17c89e4d | 272 | if( fabs(gcode->millimeters_of_travel) < 0.0001 ) { // With floating numbers, we can have 0 != 0 ... beeeh. For more info see : http://upload.wikimedia.org/wikipedia/commons/0/0a/Cain_Henri_Vidal_Tuileries.jpg |
ded56b35 AW |
273 | this->mode = SOLO; |
274 | this->travel_distance = relative_extrusion_distance; | |
17c89e4d | 275 | } else { |
ca037905 | 276 | // We move proportionally to the robot's movement |
4464301d | 277 | this->mode = FOLLOW; |
ca037905 | 278 | this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; |
7dab41f3 | 279 | // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed |
ca037905 MM |
280 | } |
281 | ||
62bd4cfa | 282 | this->en_pin.set(0); |
ca037905 | 283 | } |
17c89e4d JM |
284 | } else if( gcode->g == 90 ) { |
285 | this->absolute_mode = true; | |
286 | } else if( gcode->g == 91 ) { | |
287 | this->absolute_mode = false; | |
1a2d88eb | 288 | } |
ca037905 | 289 | } |
8adf2390 | 290 | |
17c89e4d | 291 | if (gcode->has_letter('F') && this->enabled) { |
8adf2390 L |
292 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->seconds_per_minute; |
293 | if (feed_rate > max_speed) | |
294 | feed_rate = max_speed; | |
295 | } | |
da24d6ae AW |
296 | } |
297 | ||
ded56b35 | 298 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
17c89e4d JM |
299 | void Extruder::on_block_begin(void *argument) |
300 | { | |
c974b296 | 301 | if(!this->enabled) return; |
17c89e4d | 302 | Block *block = static_cast<Block *>(argument); |
4464301d AW |
303 | |
304 | ||
17c89e4d | 305 | if( this->mode == SOLO ) { |
ded56b35 | 306 | // In solo mode we take the block so we can move even if the stepper has nothing to do |
58baeec1 | 307 | |
99826186 | 308 | this->current_position += this->travel_distance ; |
58baeec1 | 309 | |
17c89e4d | 310 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
d0c14c30 | 311 | |
17c89e4d JM |
312 | if ( this->travel_distance > 0 ) { |
313 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow | |
150bce10 | 314 | } else { |
17c89e4d | 315 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow |
150bce10 | 316 | } |
4464301d | 317 | |
17c89e4d | 318 | if( steps_to_step != 0 ) { |
58baeec1 | 319 | |
4464301d AW |
320 | // We take the block, we have to release it or everything gets stuck |
321 | block->take(); | |
322 | this->current_block = block; | |
58baeec1 | 323 | |
ca7f724e | 324 | this->stepper_motor->steps_per_second = 0; |
58baeec1 | 325 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); |
4464301d | 326 | |
17c89e4d | 327 | } else { |
d149c730 | 328 | this->current_block = NULL; |
4464301d AW |
329 | } |
330 | ||
17c89e4d | 331 | } else if( this->mode == FOLLOW ) { |
1a2d88eb | 332 | // In non-solo mode, we just follow the stepper module |
b5a9a6c4 | 333 | this->travel_distance = block->millimeters * this->travel_ratio; |
99826186 MM |
334 | |
335 | this->current_position += this->travel_distance; | |
336 | ||
150bce10 MM |
337 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
338 | ||
17c89e4d JM |
339 | if ( this->travel_distance > 0 ) { |
340 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow | |
150bce10 | 341 | } else { |
17c89e4d | 342 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow |
150bce10 | 343 | } |
99826186 | 344 | |
17c89e4d | 345 | if( steps_to_step != 0 ) { |
4464301d | 346 | block->take(); |
b5a9a6c4 MM |
347 | this->current_block = block; |
348 | ||
349 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step ); | |
d0c14c30 | 350 | this->on_speed_change(0); // initialise speed in case we get called first |
17c89e4d | 351 | } else { |
d149c730 | 352 | this->current_block = NULL; |
4464301d | 353 | } |
be8332cd | 354 | |
17c89e4d | 355 | } else if( this->mode == OFF ) { |
be8332cd | 356 | // No movement means we must reset our speed |
d149c730 | 357 | this->current_block = NULL; |
4464301d | 358 | //this->stepper_motor->set_speed(0); |
58baeec1 | 359 | |
ca037905 | 360 | } |
e2b4a32b | 361 | |
4cff3ded AW |
362 | } |
363 | ||
ded56b35 | 364 | // When a block ends, pause the stepping interrupt |
17c89e4d JM |
365 | void Extruder::on_block_end(void *argument) |
366 | { | |
c974b296 | 367 | if(!this->enabled) return; |
ca037905 MM |
368 | this->current_block = NULL; |
369 | } | |
4cff3ded | 370 | |
ded56b35 | 371 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
17c89e4d JM |
372 | uint32_t Extruder::acceleration_tick(uint32_t dummy) |
373 | { | |
c974b296 | 374 | if(!this->enabled) return 0; |
1a2d88eb | 375 | |
ca037905 | 376 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
17c89e4d JM |
377 | if( this->current_block == NULL || this->paused || this->mode != SOLO ) { |
378 | return 0; | |
379 | } | |
be8332cd AW |
380 | |
381 | uint32_t current_rate = this->stepper_motor->steps_per_second; | |
99826186 | 382 | uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter)); |
58baeec1 | 383 | |
17c89e4d JM |
384 | if( current_rate < target_rate ) { |
385 | uint32_t rate_increase = int(floor((this->acceleration / THEKERNEL->stepper->acceleration_ticks_per_second) * this->steps_per_millimeter)); | |
4464301d | 386 | current_rate = min( target_rate, current_rate + rate_increase ); |
0eb11a06 | 387 | } |
17c89e4d JM |
388 | if( current_rate > target_rate ) { |
389 | current_rate = target_rate; | |
390 | } | |
1a2d88eb | 391 | |
8519d744 | 392 | // steps per second |
da947c62 | 393 | this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second)); |
58baeec1 | 394 | |
be8332cd | 395 | return 0; |
ded56b35 | 396 | } |
1a2d88eb | 397 | |
be8332cd | 398 | // Speed has been updated for the robot's stepper, we must update accordingly |
17c89e4d JM |
399 | void Extruder::on_speed_change( void *argument ) |
400 | { | |
c974b296 | 401 | if(!this->enabled) return; |
ca037905 | 402 | |
be8332cd | 403 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
17c89e4d JM |
404 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ) { |
405 | return; | |
406 | } | |
4464301d AW |
407 | |
408 | /* | |
da947c62 | 409 | * nominal block duration = current block's steps / ( current block's nominal rate ) |
58baeec1 | 410 | * nominal extruder rate = extruder steps / nominal block duration |
0ac1713f | 411 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
da947c62 MM |
412 | * or actual extruder rate = ( ( extruder steps * ( current block's nominal_rate ) ) / current block's steps ) * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
413 | * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps | |
414 | * or even : ( stepper steps per second ) * ( extruder steps / current block's steps ) | |
4464301d | 415 | */ |
58baeec1 | 416 | |
da947c62 | 417 | this->stepper_motor->set_speed( max( ( THEKERNEL->stepper->trapezoid_adjusted_rate) * ( (float)this->stepper_motor->steps_to_move / (float)this->current_block->steps_event_count ), THEKERNEL->stepper->minimum_steps_per_second ) ); |
ca037905 | 418 | |
4cff3ded AW |
419 | } |
420 | ||
be8332cd | 421 | // When the stepper has finished it's move |
17c89e4d JM |
422 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy) |
423 | { | |
c974b296 | 424 | if(!this->enabled) return 0; |
4cff3ded | 425 | |
4464301d AW |
426 | //printf("extruder releasing\r\n"); |
427 | ||
17c89e4d JM |
428 | if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why |
429 | Block *block = this->current_block; | |
d149c730 AW |
430 | this->current_block = NULL; |
431 | block->release(); | |
8519d744 | 432 | } |
f2203544 | 433 | return 0; |
feb204be | 434 | |
be8332cd | 435 | } |
feb204be | 436 |