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" |
d87968be | 26 | #include "PublicDataRequest.h" |
5673fe39 | 27 | |
5dcb2ff3 | 28 | #include <mri.h> |
4cff3ded | 29 | |
43424972 JM |
30 | #define extruder_module_enable_checksum CHECKSUM("extruder_module_enable") |
31 | #define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm") | |
74079661 | 32 | #define extruder_filament_diameter_checksum CHECKSUM("extruder_filament_diameter") |
43424972 JM |
33 | #define extruder_acceleration_checksum CHECKSUM("extruder_acceleration") |
34 | #define extruder_step_pin_checksum CHECKSUM("extruder_step_pin") | |
35 | #define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin") | |
36 | #define extruder_en_pin_checksum CHECKSUM("extruder_en_pin") | |
37 | #define extruder_max_speed_checksum CHECKSUM("extruder_max_speed") | |
38 | ||
39 | #define extruder_checksum CHECKSUM("extruder") | |
40 | ||
41 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
42 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
74079661 | 43 | #define filament_diameter_checksum CHECKSUM("filament_diameter") |
43424972 JM |
44 | #define acceleration_checksum CHECKSUM("acceleration") |
45 | #define step_pin_checksum CHECKSUM("step_pin") | |
46 | #define dir_pin_checksum CHECKSUM("dir_pin") | |
47 | #define en_pin_checksum CHECKSUM("en_pin") | |
48 | #define max_speed_checksum CHECKSUM("max_speed") | |
8adf2390 L |
49 | #define x_offset_checksum CHECKSUM("x_offset") |
50 | #define y_offset_checksum CHECKSUM("y_offset") | |
51 | #define z_offset_checksum CHECKSUM("z_offset") | |
52 | ||
53 | #define X_AXIS 0 | |
54 | #define Y_AXIS 1 | |
55 | #define Z_AXIS 2 | |
43424972 | 56 | |
17c89e4d JM |
57 | #define OFF 0 |
58 | #define SOLO 1 | |
59 | #define FOLLOW 2 | |
60 | ||
8a3ae3d0 | 61 | #define PI 3.14159265358979F |
74079661 | 62 | |
41fd89e0 JM |
63 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
64 | ||
58baeec1 MM |
65 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
66 | * 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 ) | |
67 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
68 | */ |
69 | ||
17c89e4d JM |
70 | Extruder::Extruder( uint16_t config_identifier, bool single ) |
71 | { | |
436a2cd1 | 72 | this->absolute_mode = true; |
540c8365 | 73 | this->enabled = false; |
14ecdbd7 | 74 | this->paused = false; |
17c89e4d | 75 | this->single_config = single; |
14ecdbd7 | 76 | this->identifier = config_identifier; |
8adf2390 | 77 | |
48a10598 | 78 | memset(this->offset, 0, sizeof(this->offset)); |
436a2cd1 | 79 | } |
4cff3ded | 80 | |
17c89e4d JM |
81 | void Extruder::on_module_loaded() |
82 | { | |
f5598f5b | 83 | |
4cff3ded | 84 | // Settings |
da24d6ae | 85 | this->on_config_reload(this); |
4cff3ded AW |
86 | |
87 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one | |
476dcb96 | 88 | register_for_event(ON_CONFIG_RELOAD); |
4cff3ded AW |
89 | this->register_for_event(ON_BLOCK_BEGIN); |
90 | this->register_for_event(ON_BLOCK_END); | |
6989211c | 91 | this->register_for_event(ON_GCODE_RECEIVED); |
436a2cd1 | 92 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
93 | this->register_for_event(ON_PLAY); |
94 | this->register_for_event(ON_PAUSE); | |
be8332cd | 95 | this->register_for_event(ON_SPEED_CHANGE); |
d87968be | 96 | this->register_for_event(ON_GET_PUBLIC_DATA); |
ca037905 | 97 | |
ded56b35 | 98 | // Start values |
4cff3ded AW |
99 | this->target_position = 0; |
100 | this->current_position = 0; | |
150bce10 | 101 | this->unstepped_distance = 0; |
4cff3ded | 102 | this->current_block = NULL; |
ded56b35 | 103 | this->mode = OFF; |
ca037905 | 104 | |
ded56b35 | 105 | // Update speed every *acceleration_ticks_per_second* |
7b49793d | 106 | // TODO: Make this an independent setting |
38bf9a1c | 107 | THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Extruder::acceleration_tick ); |
ded56b35 | 108 | |
be8332cd | 109 | // Stepper motor object for the extruder |
9c5fa39a | 110 | this->stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) ); |
58baeec1 | 111 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); |
3b1e82d2 | 112 | |
4cff3ded AW |
113 | } |
114 | ||
2bb8b390 | 115 | // Get config |
17c89e4d JM |
116 | void Extruder::on_config_reload(void *argument) |
117 | { | |
17c89e4d JM |
118 | if( this->single_config ) { |
119 | // If this module uses the old "single extruder" configuration style | |
14ecdbd7 | 120 | |
f39a2ecf | 121 | this->steps_per_millimeter_setting = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 122 | this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number(); |
314ab8f7 MM |
123 | this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); |
124 | this->max_speed = THEKERNEL->config->value(extruder_max_speed_checksum )->by_default(1000)->as_number(); | |
125 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 126 | |
314ab8f7 MM |
127 | this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
128 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
129 | this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
14ecdbd7 | 130 | |
17c89e4d | 131 | for(int i = 0; i < 3; i++) { |
8adf2390 L |
132 | this->offset[i] = 0; |
133 | } | |
134 | ||
540c8365 L |
135 | this->enabled = true; |
136 | ||
17c89e4d JM |
137 | } else { |
138 | // If this module was created with the new multi extruder configuration style | |
14ecdbd7 | 139 | |
f39a2ecf | 140 | this->steps_per_millimeter_setting = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number(); |
112ad2fc | 141 | this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number(); |
17c89e4d JM |
142 | this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number(); |
143 | this->max_speed = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum )->by_default(1000)->as_number(); | |
144 | this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number(); | |
14ecdbd7 | 145 | |
17c89e4d JM |
146 | this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output(); |
147 | this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
148 | this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output(); | |
8adf2390 | 149 | |
17c89e4d JM |
150 | this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number(); |
151 | this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number(); | |
152 | this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number(); | |
14ecdbd7 AW |
153 | } |
154 | ||
112ad2fc | 155 | this->update_steps_per_millimeter(); |
436a2cd1 AW |
156 | } |
157 | ||
d87968be JM |
158 | void Extruder::on_get_public_data(void* argument){ |
159 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
160 | ||
161 | if(!pdr->starts_with(extruder_checksum)) return; | |
162 | ||
163 | if(this->enabled) { | |
8a3ae3d0 JM |
164 | // Note this is allowing both step/mm and filament diameter to be exposed via public data |
165 | pdr->set_data_ptr(&this->steps_per_millimeter_setting); | |
d87968be JM |
166 | pdr->set_taken(); |
167 | } | |
168 | } | |
81b547a1 AW |
169 | |
170 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
17c89e4d JM |
171 | void Extruder::on_pause(void *argument) |
172 | { | |
81b547a1 | 173 | this->paused = true; |
83ecfc46 | 174 | this->stepper_motor->pause(); |
81b547a1 AW |
175 | } |
176 | ||
177 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
17c89e4d JM |
178 | void Extruder::on_play(void *argument) |
179 | { | |
81b547a1 | 180 | this->paused = false; |
83ecfc46 | 181 | this->stepper_motor->unpause(); |
81b547a1 AW |
182 | } |
183 | ||
17c89e4d JM |
184 | void Extruder::on_gcode_received(void *argument) |
185 | { | |
186 | Gcode *gcode = static_cast<Gcode *>(argument); | |
5dcb2ff3 AW |
187 | |
188 | // Gcodes to execute immediately | |
17c89e4d JM |
189 | if (gcode->has_m) { |
190 | if (gcode->m == 114 && this->enabled) { | |
4d9f562f | 191 | char buf[16]; |
17c89e4d | 192 | int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position); |
4d9f562f | 193 | gcode->txt_after_ok.append(buf, n); |
74b6303c | 194 | gcode->mark_as_taken(); |
33e4cc02 | 195 | |
17c89e4d | 196 | } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) { |
1ad23cd3 | 197 | float spm = this->steps_per_millimeter; |
6b451be8 | 198 | if (gcode->has_letter('E')) { |
7369629d | 199 | spm = gcode->get_value('E'); |
112ad2fc L |
200 | this->steps_per_millimeter_setting = spm; |
201 | this->update_steps_per_millimeter(); | |
4cba6755 JM |
202 | } |
203 | ||
7369629d MM |
204 | gcode->stream->printf("E:%g ", spm); |
205 | gcode->add_nl = true; | |
74b6303c | 206 | gcode->mark_as_taken(); |
33e4cc02 | 207 | |
f39a2ecf L |
208 | } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { |
209 | if (gcode->has_letter('D')) { | |
112ad2fc L |
210 | this->filament_diameter = gcode->get_value('D'); |
211 | this->update_steps_per_millimeter(); | |
f39a2ecf | 212 | } |
112ad2fc | 213 | gcode->mark_as_taken(); |
8a3ae3d0 | 214 | |
17c89e4d | 215 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
4710532a | 216 | if( this->single_config ) { |
8a3ae3d0 | 217 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter_setting); |
112ad2fc | 218 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter); |
4710532a | 219 | } else { |
8a3ae3d0 | 220 | gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter_setting, this->identifier); |
112ad2fc | 221 | gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier); |
17c89e4d | 222 | } |
33e4cc02 | 223 | gcode->mark_as_taken(); |
f2f0dfed | 224 | return; |
7369629d | 225 | } |
6989211c | 226 | } |
8519d744 | 227 | |
5dcb2ff3 | 228 | // Gcodes to pass along to on_gcode_execute |
4cba6755 | 229 | 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 | 230 | THEKERNEL->conveyor->append_gcode(gcode); |
3c4f2dd8 AW |
231 | } |
232 | ||
233 | // Add to the queue for on_gcode_execute to process | |
17c89e4d JM |
234 | if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') && this->enabled ) { |
235 | if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) { | |
e0ee24ed | 236 | THEKERNEL->conveyor->append_gcode(gcode); |
518e225f | 237 | // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time |
2134bcf2 | 238 | THEKERNEL->conveyor->queue_head_block(); |
3c4f2dd8 | 239 | } |
17c89e4d | 240 | } else { |
d149c730 AW |
241 | // This is for follow move |
242 | ||
3c4f2dd8 AW |
243 | } |
244 | } | |
245 | ||
ded56b35 | 246 | // Compute extrusion speed based on parameters and gcode distance of travel |
17c89e4d JM |
247 | void Extruder::on_gcode_execute(void *argument) |
248 | { | |
249 | Gcode *gcode = static_cast<Gcode *>(argument); | |
ca037905 | 250 | |
436a2cd1 | 251 | // Absolute/relative mode |
17c89e4d JM |
252 | if( gcode->has_m ) { |
253 | if( gcode->m == 17 ) { | |
254 | this->en_pin.set(0); | |
255 | } | |
256 | if( gcode->m == 18 ) { | |
257 | this->en_pin.set(1); | |
258 | } | |
259 | if( gcode->m == 82 ) { | |
260 | this->absolute_mode = true; | |
261 | } | |
262 | if( gcode->m == 83 ) { | |
263 | this->absolute_mode = false; | |
264 | } | |
265 | if( gcode->m == 84 ) { | |
266 | this->en_pin.set(1); | |
267 | } | |
ca037905 MM |
268 | } |
269 | ||
270 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude | |
ded56b35 | 271 | this->mode = OFF; |
ca037905 | 272 | |
17c89e4d | 273 | if( gcode->has_g ) { |
7b49793d | 274 | // G92: Reset extruder position |
17c89e4d | 275 | if( gcode->g == 92 && this->enabled ) { |
74b6303c | 276 | gcode->mark_as_taken(); |
17c89e4d | 277 | if( gcode->has_letter('E') ) { |
e2b4a32b | 278 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 279 | this->target_position = this->current_position; |
150bce10 | 280 | this->unstepped_distance = 0; |
17c89e4d | 281 | } else if( gcode->get_num_args() == 0) { |
b2aa3a55 L |
282 | this->current_position = 0.0; |
283 | this->target_position = this->current_position; | |
150bce10 | 284 | this->unstepped_distance = 0; |
ca037905 | 285 | } |
6b451be8 | 286 | |
17c89e4d | 287 | } else if (((gcode->g == 0) || (gcode->g == 1)) && this->enabled) { |
ca037905 | 288 | // Extrusion length from 'G' Gcode |
17c89e4d | 289 | if( gcode->has_letter('E' )) { |
ca037905 | 290 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
1ad23cd3 MM |
291 | float extrusion_distance = gcode->get_value('E'); |
292 | float relative_extrusion_distance = extrusion_distance; | |
17c89e4d | 293 | if (this->absolute_mode) { |
f8dc0043 MM |
294 | relative_extrusion_distance -= this->target_position; |
295 | this->target_position = extrusion_distance; | |
17c89e4d | 296 | } else { |
f8dc0043 MM |
297 | this->target_position += relative_extrusion_distance; |
298 | } | |
ca037905 | 299 | |
ded56b35 | 300 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
17c89e4d | 301 | 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 |
302 | this->mode = SOLO; |
303 | this->travel_distance = relative_extrusion_distance; | |
17c89e4d | 304 | } else { |
ca037905 | 305 | // We move proportionally to the robot's movement |
4464301d | 306 | this->mode = FOLLOW; |
ca037905 | 307 | this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; |
7dab41f3 | 308 | // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed |
ca037905 MM |
309 | } |
310 | ||
62bd4cfa | 311 | this->en_pin.set(0); |
ca037905 | 312 | } |
6b451be8 JM |
313 | |
314 | if (gcode->has_letter('F')) { | |
dd0a7cfa | 315 | feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute(); |
6b451be8 JM |
316 | if (feed_rate > max_speed) |
317 | feed_rate = max_speed; | |
318 | } | |
319 | ||
17c89e4d JM |
320 | } else if( gcode->g == 90 ) { |
321 | this->absolute_mode = true; | |
6b451be8 | 322 | |
17c89e4d JM |
323 | } else if( gcode->g == 91 ) { |
324 | this->absolute_mode = false; | |
1a2d88eb | 325 | } |
ca037905 | 326 | } |
8adf2390 | 327 | |
da24d6ae AW |
328 | } |
329 | ||
ded56b35 | 330 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
17c89e4d JM |
331 | void Extruder::on_block_begin(void *argument) |
332 | { | |
c974b296 | 333 | if(!this->enabled) return; |
17c89e4d | 334 | Block *block = static_cast<Block *>(argument); |
4464301d AW |
335 | |
336 | ||
17c89e4d | 337 | if( this->mode == SOLO ) { |
ded56b35 | 338 | // In solo mode we take the block so we can move even if the stepper has nothing to do |
58baeec1 | 339 | |
99826186 | 340 | this->current_position += this->travel_distance ; |
58baeec1 | 341 | |
0ebf8cd2 | 342 | int steps_to_step = abs(int(floor(this->steps_per_millimeter_setting * (this->travel_distance + this->unstepped_distance) ))); |
d0c14c30 | 343 | |
17c89e4d | 344 | if ( this->travel_distance > 0 ) { |
0ebf8cd2 | 345 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter_setting); //catch any overflow |
150bce10 | 346 | } else { |
0ebf8cd2 | 347 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter_setting); //catch any overflow |
150bce10 | 348 | } |
4464301d | 349 | |
17c89e4d | 350 | if( steps_to_step != 0 ) { |
58baeec1 | 351 | |
4464301d AW |
352 | // We take the block, we have to release it or everything gets stuck |
353 | block->take(); | |
354 | this->current_block = block; | |
58baeec1 | 355 | |
2fa50ca0 | 356 | this->stepper_motor->set_steps_per_second(0); |
58baeec1 | 357 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); |
4464301d | 358 | |
17c89e4d | 359 | } else { |
d149c730 | 360 | this->current_block = NULL; |
4464301d AW |
361 | } |
362 | ||
17c89e4d | 363 | } else if( this->mode == FOLLOW ) { |
1a2d88eb | 364 | // In non-solo mode, we just follow the stepper module |
b5a9a6c4 | 365 | this->travel_distance = block->millimeters * this->travel_ratio; |
99826186 MM |
366 | |
367 | this->current_position += this->travel_distance; | |
368 | ||
150bce10 MM |
369 | int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ))); |
370 | ||
17c89e4d JM |
371 | if ( this->travel_distance > 0 ) { |
372 | this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow | |
150bce10 | 373 | } else { |
17c89e4d | 374 | this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow |
150bce10 | 375 | } |
99826186 | 376 | |
17c89e4d | 377 | if( steps_to_step != 0 ) { |
4464301d | 378 | block->take(); |
b5a9a6c4 MM |
379 | this->current_block = block; |
380 | ||
381 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step ); | |
d0c14c30 | 382 | this->on_speed_change(0); // initialise speed in case we get called first |
17c89e4d | 383 | } else { |
d149c730 | 384 | this->current_block = NULL; |
4464301d | 385 | } |
be8332cd | 386 | |
17c89e4d | 387 | } else if( this->mode == OFF ) { |
be8332cd | 388 | // No movement means we must reset our speed |
d149c730 | 389 | this->current_block = NULL; |
4464301d | 390 | //this->stepper_motor->set_speed(0); |
58baeec1 | 391 | |
ca037905 | 392 | } |
e2b4a32b | 393 | |
4cff3ded AW |
394 | } |
395 | ||
ded56b35 | 396 | // When a block ends, pause the stepping interrupt |
17c89e4d JM |
397 | void Extruder::on_block_end(void *argument) |
398 | { | |
c974b296 | 399 | if(!this->enabled) return; |
ca037905 MM |
400 | this->current_block = NULL; |
401 | } | |
4cff3ded | 402 | |
ded56b35 | 403 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
17c89e4d JM |
404 | uint32_t Extruder::acceleration_tick(uint32_t dummy) |
405 | { | |
c974b296 | 406 | if(!this->enabled) return 0; |
1a2d88eb | 407 | |
ca037905 | 408 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
17c89e4d JM |
409 | if( this->current_block == NULL || this->paused || this->mode != SOLO ) { |
410 | return 0; | |
411 | } | |
be8332cd | 412 | |
2fa50ca0 | 413 | uint32_t current_rate = this->stepper_motor->get_steps_per_second(); |
0ebf8cd2 | 414 | uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter_setting)); // NOTE we use real steps here not the volumetric ones |
58baeec1 | 415 | |
17c89e4d | 416 | if( current_rate < target_rate ) { |
0ebf8cd2 | 417 | uint32_t rate_increase = int(floor((this->acceleration / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * this->steps_per_millimeter_setting)); |
4464301d | 418 | current_rate = min( target_rate, current_rate + rate_increase ); |
0eb11a06 | 419 | } |
17c89e4d JM |
420 | if( current_rate > target_rate ) { |
421 | current_rate = target_rate; | |
422 | } | |
1a2d88eb | 423 | |
8519d744 | 424 | // steps per second |
38bf9a1c | 425 | this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second())); |
58baeec1 | 426 | |
be8332cd | 427 | return 0; |
ded56b35 | 428 | } |
1a2d88eb | 429 | |
be8332cd | 430 | // Speed has been updated for the robot's stepper, we must update accordingly |
17c89e4d JM |
431 | void Extruder::on_speed_change( void *argument ) |
432 | { | |
c974b296 | 433 | if(!this->enabled) return; |
ca037905 | 434 | |
be8332cd | 435 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
2fa50ca0 | 436 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->is_moving() != true ) { |
17c89e4d JM |
437 | return; |
438 | } | |
4464301d AW |
439 | |
440 | /* | |
da947c62 | 441 | * nominal block duration = current block's steps / ( current block's nominal rate ) |
58baeec1 | 442 | * nominal extruder rate = extruder steps / nominal block duration |
0ac1713f | 443 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per second ) / ( current block's nominal rate ) ) |
da947c62 MM |
444 | * 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 ) ) |
445 | * or simplified : extruder steps * ( stepper's steps per second ) ) / current block's steps | |
446 | * or even : ( stepper steps per second ) * ( extruder steps / current block's steps ) | |
4464301d | 447 | */ |
58baeec1 | 448 | |
2fa50ca0 | 449 | this->stepper_motor->set_speed( max( ( THEKERNEL->stepper->get_trapezoid_adjusted_rate()) * ( (float)this->stepper_motor->get_steps_to_move() / (float)this->current_block->steps_event_count ), THEKERNEL->stepper->get_minimum_steps_per_second() ) ); |
ca037905 | 450 | |
4cff3ded AW |
451 | } |
452 | ||
be8332cd | 453 | // When the stepper has finished it's move |
17c89e4d JM |
454 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy) |
455 | { | |
c974b296 | 456 | if(!this->enabled) return 0; |
4cff3ded | 457 | |
4464301d AW |
458 | //printf("extruder releasing\r\n"); |
459 | ||
17c89e4d JM |
460 | if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why |
461 | Block *block = this->current_block; | |
d149c730 AW |
462 | this->current_block = NULL; |
463 | block->release(); | |
8519d744 | 464 | } |
f2203544 | 465 | return 0; |
feb204be | 466 | |
be8332cd | 467 | } |
feb204be | 468 | |
112ad2fc | 469 | void Extruder::update_steps_per_millimeter() { |
c31b23e7 | 470 | if(this->filament_diameter > 0.01) { |
112ad2fc L |
471 | this->steps_per_millimeter = this->steps_per_millimeter_setting / (powf(this->filament_diameter / 2, 2) * PI); |
472 | } else { | |
473 | this->steps_per_millimeter = this->steps_per_millimeter_setting; | |
474 | } | |
475 | } | |
476 |