#include "Gcode.h"
#include "libs/StreamOutput.h"
#include "PublicDataRequest.h"
+#include "StreamOutputPool.h"
+#include "ExtruderPublicAccess.h"
#include <mri.h>
#define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin")
#define extruder_en_pin_checksum CHECKSUM("extruder_en_pin")
#define extruder_max_speed_checksum CHECKSUM("extruder_max_speed")
+#define extruder_default_feed_rate_checksum CHECKSUM("extruder_default_feed_rate")
// NEW config names
-#define extruder_checksum CHECKSUM("extruder")
#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
#define steps_per_mm_checksum CHECKSUM("steps_per_mm")
#define retract_zlift_length_checksum CHECKSUM("retract_zlift_length")
#define retract_zlift_feedrate_checksum CHECKSUM("retract_zlift_feedrate")
-#define save_state_checksum CHECKSUM("save_state")
-#define restore_state_checksum CHECKSUM("restore_state")
-
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
Extruder::Extruder( uint16_t config_identifier, bool single )
{
this->absolute_mode = true;
+ this->milestone_absolute_mode = true;
this->enabled = false;
this->paused = false;
this->single_config = single;
this->retracted = false;
this->volumetric_multiplier = 1.0F;
this->extruder_multiplier = 1.0F;
- this->stepper_motor= nullptr;
+ this->stepper_motor = nullptr;
+ this->milestone_last_position = 0;
+ this->max_volumetric_rate = 0;
memset(this->offset, 0, sizeof(this->offset));
}
this->register_for_event(ON_SET_PUBLIC_DATA);
// Update speed every *acceleration_ticks_per_second*
- THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
+ THEKERNEL->step_ticker->register_acceleration_tick_handler([this]() {
+ acceleration_tick();
+ });
}
// Get config
this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number();
this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number();
this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number();
- this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number();
+ this->feed_rate = THEKERNEL->config->value(extruder_default_feed_rate_checksum )->by_default(1000)->as_number();
this->step_pin.from_string( THEKERNEL->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_string())->as_output();
this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number();
this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number();
this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number();
- this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number();
+ this->feed_rate = THEKERNEL->config->value(extruder_checksum, this->identifier, default_feed_rate_checksum )->by_default(1000)->as_number();
this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output();
this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number();
this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number();
this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number();
- this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100*60)->as_number(); // mm/min
+ this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100 * 60)->as_number(); // mm/min
if(filament_diameter > 0.01F) {
this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move );
if( this->single_config ) {
this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_max_speed_checksum)->by_default(1000)->as_number());
- }else{
+ } else {
this->stepper_motor->set_max_rate(THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum)->by_default(1000)->as_number());
}
}
-void Extruder::on_get_public_data(void* argument){
- PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
+void Extruder::on_get_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(extruder_checksum)) return;
}
}
+// check against maximum speeds and return the rate modifier
+float Extruder::check_max_speeds(float target, float isecs)
+{
+ float rm = 1.0F; // default no rate modification
+ float delta;
+ // get change in E (may be mm or mm³)
+ if(milestone_absolute_mode) {
+ delta = fabsf(target - milestone_last_position); // delta move
+ milestone_last_position = target;
+
+ } else {
+ delta = target;
+ milestone_last_position += target;
+ }
+
+ if(this->max_volumetric_rate > 0 && this->filament_diameter > 0.01F) {
+ // volumetric enabled and check for volumetric rate
+ float v = delta * isecs; // the flow rate in mm³/sec
+
+ // return the rate change needed to stay within the max rate
+ if(v > max_volumetric_rate) {
+ rm = max_volumetric_rate / v;
+ isecs *= rm; // this slows the rate down for the next test
+ }
+ //THEKERNEL->streams->printf("requested flow rate: %f mm³/sec, corrected flow rate: %f mm³/sec\n", v, v * rm);
+ }
+
+ // check for max speed as well
+ float max_speed = this->stepper_motor->get_max_rate();
+ if(max_speed > 0) {
+ if(this->filament_diameter > 0.01F) {
+ // volumetric so need to convert delta which is mm³ to mm
+ delta *= volumetric_multiplier;
+ }
+
+ float sm = 1.0F;
+ float v = delta * isecs; // the speed in mm/sec
+ if(v > max_speed) {
+ sm *= (max_speed / v);
+ }
+ //THEKERNEL->streams->printf("requested speed: %f mm/sec, corrected speed: %f mm/sec\n", v, v * sm);
+ rm *= sm;
+ }
+ return rm;
+}
+
void Extruder::on_set_public_data(void *argument)
{
PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(extruder_checksum)) return;
+ // handle extrude rates request from robot
+ if(pdr->second_element_is(target_checksum)) {
+ // disabled extruders do not reply NOTE only one enabled extruder supported
+ if(!this->enabled) return;
+
+ float *d = static_cast<float *>(pdr->get_data_ptr());
+ float target = d[0]; // the E passed in on Gcode is in mm³ (maybe absolute or relative)
+ float isecs = d[1]; // inverted secs
+
+ // check against maximum speeds and return rate modifier
+ d[1] = check_max_speeds(target, isecs);
+
+ pdr->set_taken();
+ return;
+ }
+
// save or restore state
if(pdr->second_element_is(save_state_checksum)) {
- this->saved_current_position= this->current_position;
- this->saved_absolute_mode= this->absolute_mode;
+ this->saved_current_position = this->current_position;
+ this->saved_absolute_mode = this->absolute_mode;
pdr->set_taken();
- }else if(pdr->second_element_is(restore_state_checksum)) {
- this->current_position= this->saved_current_position;
- this->absolute_mode= this->saved_absolute_mode;
+ } else if(pdr->second_element_is(restore_state_checksum)) {
+ // NOTE this only gets called when the queue is empty so the milestones will be the same
+ this->milestone_last_position= this->current_position = this->saved_current_position;
+ this->milestone_absolute_mode= this->absolute_mode = this->saved_absolute_mode;
pdr->set_taken();
}
}
char buf[16];
int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position);
gcode->txt_after_ok.append(buf, n);
- gcode->mark_as_taken();
} else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) {
float spm = this->steps_per_millimeter;
gcode->stream->printf("E:%g ", spm);
gcode->add_nl = true;
- gcode->mark_as_taken();
} else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
if (gcode->has_letter('D')) {
this->filament_diameter = gcode->get_value('D');
if(filament_diameter > 0.01F) {
this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
- }else{
+ } else {
this->volumetric_multiplier = 1.0F;
}
- }else {
+ } else {
if(filament_diameter > 0.01F) {
gcode->stream->printf("Filament Diameter: %f\n", this->filament_diameter);
- }else{
+ } else {
gcode->stream->printf("Volumetric extrusion is disabled\n");
}
}
- gcode->mark_as_taken();
+
+ } else if (gcode->m == 203 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ // M203 Exxx Vyyy Set maximum feedrates xxx mm/sec and/or yyy mm³/sec
+ if(gcode->get_num_args() == 0) {
+ gcode->stream->printf("E:%g V:%g", this->stepper_motor->get_max_rate(), this->max_volumetric_rate);
+ gcode->add_nl = true;
+
+ } else {
+ if(gcode->has_letter('E')) {
+ this->stepper_motor->set_max_rate(gcode->get_value('E'));
+ }
+ if(gcode->has_letter('V')) {
+ this->max_volumetric_rate = gcode->get_value('V');
+ }
+ }
} else if (gcode->m == 204 && gcode->has_letter('E') &&
( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
// extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500)
- this->acceleration= gcode->get_value('E');
- gcode->mark_as_taken();
+ this->acceleration = gcode->get_value('E');
} else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min]
if(gcode->has_letter('S')) retract_length = gcode->get_value('S');
- if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec
+ if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z');
if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q');
- gcode->mark_as_taken();
} else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
// M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S');
- if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec
- gcode->mark_as_taken();
+ if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F') / 60.0F; // specified in mm/min converted to mm/sec
} else if (gcode->m == 221 && this->enabled) { // M221 S100 change flow rate by percentage
- if(gcode->has_letter('S')) this->extruder_multiplier= gcode->get_value('S')/100.0F;
- gcode->mark_as_taken();
+ if(gcode->has_letter('S')) {
+ this->extruder_multiplier = gcode->get_value('S') / 100.0F;
+ } else {
+ gcode->stream->printf("Flow rate at %6.2f %%\n", this->extruder_multiplier * 100.0F);
+ }
} else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
if( this->single_config ) {
gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter);
gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter);
- gcode->stream->printf(";E retract length, feedrate, zlift length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate);
- gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F);
- gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f\n", this->acceleration);
+ gcode->stream->printf(";E retract length, feedrate, zlift length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f\n", this->retract_length, this->retract_feedrate * 60.0F, this->retract_zlift_length, this->retract_zlift_feedrate);
+ gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f\n", this->retract_recover_length, this->retract_recover_feedrate * 60.0F);
+ gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f\n", this->acceleration);
+ gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f\n", this->stepper_motor->get_max_rate());
+ if(this->max_volumetric_rate > 0) {
+ gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f\n", this->max_volumetric_rate);
+ }
} else {
gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier);
gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier);
- gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f P%d\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate, this->identifier);
- gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f P%d\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F, this->identifier);
- gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier);
+ gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f P%d\n", this->retract_length, this->retract_feedrate * 60.0F, this->retract_zlift_length, this->retract_zlift_feedrate, this->identifier);
+ gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f P%d\n", this->retract_recover_length, this->retract_recover_feedrate * 60.0F, this->identifier);
+ gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier);
+ gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", this->stepper_motor->get_max_rate(), this->identifier);
+ if(this->max_volumetric_rate > 0) {
+ gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f P%d\n", this->max_volumetric_rate, this->identifier);
+ }
}
- gcode->mark_as_taken();
+
} else if( gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) {
// Mcodes to pass along to on_gcode_execute
THEKERNEL->conveyor->append_gcode(gcode);
- gcode->mark_as_taken();
+
}
- }else if(gcode->has_g) {
+ } else if(gcode->has_g) {
// G codes, NOTE some are ignored if not enabled
if( (gcode->g == 92 && gcode->has_letter('E')) || (gcode->g == 90 || gcode->g == 91) ) {
// Gcodes to pass along to on_gcode_execute
THEKERNEL->conveyor->append_gcode(gcode);
- gcode->mark_as_taken();
- }else if( this->enabled && gcode->g < 4 && gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) {
- // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
+ } else if( this->enabled && gcode->g < 4 && gcode->has_letter('E') && fabsf(gcode->millimeters_of_travel) < 0.00001F ) { // With floating numbers, we can have 0 != 0, NOTE needs to be same as in Robot.cpp#745
+ // NOTE was ... gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) {
+ // This is a SOLO move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
THEKERNEL->conveyor->append_gcode(gcode);
THEKERNEL->conveyor->queue_head_block();
- gcode->mark_as_taken();
- }else if( this->enabled && (gcode->g == 10 || gcode->g == 11) ) { // firmware retract command
- gcode->mark_as_taken();
+ } else if( this->enabled && (gcode->g == 10 || gcode->g == 11) ) { // firmware retract command
// check we are in the correct state of retract or unretract
if(gcode->g == 10 && !retracted) {
- this->retracted= true;
- this->cancel_zlift_restore= false;
- } else if(gcode->g == 11 && retracted){
- this->retracted= false;
+ this->retracted = true;
+ this->cancel_zlift_restore = false;
+ } else if(gcode->g == 11 && retracted) {
+ this->retracted = false;
} else
return; // ignore duplicates
// reverse zlift happens before unretract
// NOTE we do not do this if cancel_zlift_restore is set to true, which happens if there is an absolute Z move inbetween G10 and G11
char buf[32];
- int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate);
+ int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate);
string cmd(buf, n);
Gcode gc(cmd, &(StreamOutput::NullStream));
- bool oldmode= THEKERNEL->robot->absolute_mode;
- THEKERNEL->robot->absolute_mode= false; // needs to be relative mode
+ bool oldmode = THEKERNEL->robot->absolute_mode;
+ THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
- THEKERNEL->robot->absolute_mode= oldmode; // restore mode
+ THEKERNEL->robot->absolute_mode = oldmode; // restore mode
}
// This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
if(retract_zlift_length > 0 && gcode->g == 10) {
char buf[32];
- int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate);
+ int n = snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate);
string cmd(buf, n);
Gcode gc(cmd, &(StreamOutput::NullStream));
- bool oldmode= THEKERNEL->robot->absolute_mode;
- THEKERNEL->robot->absolute_mode= false; // needs to be relative mode
+ bool oldmode = THEKERNEL->robot->absolute_mode;
+ THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
- THEKERNEL->robot->absolute_mode= oldmode; // restore mode
+ THEKERNEL->robot->absolute_mode = oldmode; // restore mode
}
- }else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) {
+ } else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) {
// NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at
- this->cancel_zlift_restore= true;
+ this->cancel_zlift_restore = true;
+ }
+ }
+
+ // handle some codes now for the volumetric rate limiting
+ // G90 G91 G92 M82 M83
+ if(gcode->has_m) {
+ switch(gcode->m) {
+ case 82: this->milestone_absolute_mode = true; break;
+ case 83: this->milestone_absolute_mode = false; break;
+ }
+
+ } else if(gcode->has_g) {
+ switch(gcode->g) {
+ case 90: this->milestone_absolute_mode = true; break;
+ case 91: this->milestone_absolute_mode = false; break;
+ case 92:
+ if(this->enabled) {
+ if(gcode->has_letter('E')) {
+ this->milestone_last_position = gcode->get_value('E');
+ } else if(gcode->get_num_args() == 0) {
+ this->milestone_last_position = 0;
+ }
+ }
+ break;
}
}
}
// Absolute/relative mode, globably modal affect all extruders whether enabled or not
if( gcode->has_m ) {
switch(gcode->m) {
- case 17:
- this->en_pin.set(0);
- break;
- case 18:
- this->en_pin.set(1);
- break;
- case 82:
- this->absolute_mode = true;
- break;
- case 83:
- this->absolute_mode = false;
- break;
- case 84:
- this->en_pin.set(1);
- break;
+ case 17:
+ this->en_pin.set(0);
+ break;
+ case 18:
+ this->en_pin.set(1);
+ break;
+ case 82:
+ this->absolute_mode = true;
+ break;
+ case 83:
+ this->absolute_mode = false;
+ break;
+ case 84:
+ this->en_pin.set(1);
+ break;
}
return;
} else if (gcode->g == 10) {
// FW retract command
- feed_rate= retract_feedrate; // mm/sec
+ feed_rate = retract_feedrate; // mm/sec
this->mode = SOLO;
this->travel_distance = -retract_length;
this->target_position += this->travel_distance;
} else if (gcode->g == 11) {
// un retract command
- feed_rate= retract_recover_feedrate; // mm/sec
+ feed_rate = retract_recover_feedrate; // mm/sec
this->mode = SOLO;
this->travel_distance = (retract_length + retract_recover_length);
this->target_position += this->travel_distance;
} else if (gcode->g == 0 || gcode->g == 1) {
// Extrusion length from 'G' Gcode
if( gcode->has_letter('E' )) {
- // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position )
+ // Get relative extrusion distance depending on mode ( in absolute mode we must subtract target_position )
float extrusion_distance = gcode->get_value('E');
float relative_extrusion_distance = extrusion_distance;
if (this->absolute_mode) {
}
// If the robot is moving, we follow it's movement, otherwise, we move alone
- if( fabs(gcode->millimeters_of_travel) < 0.00001F ) { // With floating numbers, we can have 0 != 0, NOTE needs to be same as in Robot.cpp#701
+ if( fabsf(gcode->millimeters_of_travel) < 0.00001F ) { // With floating numbers, we can have 0 != 0, NOTE needs to be same as in Robot.cpp#745
this->mode = SOLO;
this->travel_distance = relative_extrusion_distance;
} else {
// We move proportionally to the robot's movement
this->mode = FOLLOW;
this->travel_ratio = (relative_extrusion_distance * this->volumetric_multiplier * this->extruder_multiplier) / gcode->millimeters_of_travel; // adjust for volumetric extrusion and extruder multiplier
- // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed
}
this->en_pin.set(0);
}
+ // NOTE this is only used in SOLO mode, but any F on a G0/G1 will set the speed for future retracts that are not firmware retracts
if (gcode->has_letter('F')) {
feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute();
- if (feed_rate > stepper_motor->get_max_rate())
+ if (stepper_motor->get_max_rate() > 0 && feed_rate > stepper_motor->get_max_rate())
feed_rate = stepper_motor->get_max_rate();
}
}
if(this->mode == FOLLOW) {
on_speed_change(this); // set initial speed
this->stepper_motor->set_moved_last_block(true);
- }else{
+ } else {
// SOLO
- this->stepper_motor->set_speed(rate_increase()); // start at first acceleration step
+ uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter);
+ this->stepper_motor->set_speed(min( target_rate, rate_increase() )); // start at first acceleration step
this->stepper_motor->set_moved_last_block(false);
}
this->current_block = NULL;
}
-uint32_t Extruder::rate_increase() const {
+uint32_t Extruder::rate_increase() const
+{
return floorf((this->acceleration / THEKERNEL->acceleration_ticks_per_second) * this->steps_per_millimeter);
}
HCoop / clinton / Smoothieware.git / blobdiff