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toolhead: Initial support for adding extra axes to toolhead moves

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Add a new add_extra_axes() to support adding additional axes.  Once
called, toolhead.get_position() will return a list object with more
than 4 items, and toolhead.move() requires the same size list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-03-21 22:14:13 -04:00
parent 9dbfc76d9d
commit bb281834b0
2 changed files with 61 additions and 32 deletions
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27
klippy/kinematics/extruder.py
View File

@ -199,24 +199,25 @@ class PrinterExtruder:
return self.trapq
def stats(self, eventtime):
return self.heater.stats(eventtime)
def check_move(self, move):
axis_r = move.axes_r[3]
def check_move(self, move, ea_index):
if not self.heater.can_extrude:
raise self.printer.command_error(
"Extrude below minimum temp\n"
"See the 'min_extrude_temp' config option for details")
axis_r = move.axes_r[ea_index]
axis_d = move.axes_d[ea_index]
if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.:
# Extrude only move (or retraction move) - limit accel and velocity
if abs(move.axes_d[3]) > self.max_e_dist:
if abs(axis_d) > self.max_e_dist:
raise self.printer.command_error(
"Extrude only move too long (%.3fmm vs %.3fmm)\n"
"See the 'max_extrude_only_distance' config"
" option for details" % (move.axes_d[3], self.max_e_dist))
" option for details" % (axis_d, self.max_e_dist))
inv_extrude_r = 1. / abs(axis_r)
move.limit_speed(self.max_e_velocity * inv_extrude_r,
self.max_e_accel * inv_extrude_r)
elif axis_r > self.max_extrude_ratio:
if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
if axis_d <= self.nozzle_diameter * self.max_extrude_ratio:
# Permit extrusion if amount extruded is tiny
return
area = axis_r * self.filament_area
@ -226,13 +227,13 @@ class PrinterExtruder:
"Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
"See the 'max_extrude_cross_section' config option for details"
% (area, self.max_extrude_ratio * self.filament_area))
def calc_junction(self, prev_move, move):
diff_r = move.axes_r[3] - prev_move.axes_r[3]
def calc_junction(self, prev_move, move, ea_index):
diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index]
if diff_r:
return (self.instant_corner_v / abs(diff_r))**2
return move.max_cruise_v2
def process_move(self, print_time, move):
axis_r = move.axes_r[3]
def process_move(self, print_time, move, ea_index):
axis_r = move.axes_r[ea_index]
accel = move.accel * axis_r
start_v = move.start_v * axis_r
cruise_v = move.cruise_v * axis_r
@ -242,10 +243,10 @@ class PrinterExtruder:
# Queue movement (x is extruder movement, y is pressure advance flag)
self.trapq_append(self.trapq, print_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[3], 0., 0.,
move.start_pos[ea_index], 0., 0.,
1., can_pressure_advance, 0.,
start_v, cruise_v, accel)
self.last_position = move.end_pos[3]
self.last_position = move.end_pos[ea_index]
def find_past_position(self, print_time):
if self.extruder_stepper is None:
return 0.
@ -285,11 +286,11 @@ class PrinterExtruder:
class DummyExtruder:
def __init__(self, printer):
self.printer = printer
def check_move(self, move):
def check_move(self, move, ea_index):
raise move.move_error("Extrude when no extruder present")
def find_past_position(self, print_time):
return 0.
def calc_junction(self, prev_move, move):
def calc_junction(self, prev_move, move, ea_index):
return move.max_cruise_v2
def get_name(self):
return ""

66
klippy/toolhead.py
View File

@ -21,14 +21,14 @@ class Move:
self.timing_callbacks = []
velocity = min(speed, toolhead.max_velocity)
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
self.axes_d = axes_d = [ep - sp for sp, ep in zip(start_pos, end_pos)]
self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
if move_d < .000000001:
# Extrude only move
self.end_pos = (start_pos[0], start_pos[1], start_pos[2],
end_pos[3])
self.end_pos = ((start_pos[0], start_pos[1], start_pos[2])
+ self.end_pos[3:])
axes_d[0] = axes_d[1] = axes_d[2] = 0.
self.move_d = move_d = abs(axes_d[3])
self.move_d = move_d = max([abs(ad) for ad in axes_d[3:]])
inv_move_d = 0.
if move_d:
inv_move_d = 1. / move_d
@ -65,11 +65,13 @@ class Move:
def calc_junction(self, prev_move):
if not self.is_kinematic_move or not prev_move.is_kinematic_move:
return
# Allow extruder to calculate its maximum junction
extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
max_start_v2 = min(extruder_v2, self.max_cruise_v2,
prev_move.max_cruise_v2, prev_move.next_junction_v2,
prev_move.max_start_v2 + prev_move.delta_v2)
# Allow extra axes to calculate maximum junction
ea_v2 = [ea.calc_junction(prev_move, self, e_index+3)
for e_index, ea in enumerate(self.toolhead.extra_axes)]
max_start_v2 = min([self.max_cruise_v2,
prev_move.max_cruise_v2, prev_move.next_junction_v2,
prev_move.max_start_v2 + prev_move.delta_v2]
+ ea_v2)
# Find max velocity using "approximated centripetal velocity"
axes_r = self.axes_r
prev_axes_r = prev_move.axes_r
@ -263,7 +265,8 @@ class ToolHead:
# Create kinematics class
gcode = self.printer.lookup_object('gcode')
self.Coord = gcode.Coord
self.extruder = kinematics.extruder.DummyExtruder(self.printer)
extruder = kinematics.extruder.DummyExtruder(self.printer)
self.extra_axes = [extruder]
kin_name = config.get('kinematics')
try:
mod = importlib.import_module('kinematics.' + kin_name)
@ -351,8 +354,9 @@ class ToolHead:
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_r[0], move.axes_r[1], move.axes_r[2],
move.start_v, move.cruise_v, move.accel)
if move.axes_d[3]:
self.extruder.process_move(next_move_time, move)
for e_index, ea in enumerate(self.extra_axes):
if move.axes_d[e_index + 3]:
ea.process_move(next_move_time, move, e_index + 3)
next_move_time = (next_move_time + move.accel_t
+ move.cruise_t + move.decel_t)
for cb in move.timing_callbacks:
@ -472,8 +476,9 @@ class ToolHead:
return
if move.is_kinematic_move:
self.kin.check_move(move)
if move.axes_d[3]:
self.extruder.check_move(move)
for e_index, ea in enumerate(self.extra_axes):
if move.axes_d[e_index + 3]:
ea.check_move(move, e_index + 3)
self.commanded_pos[:] = move.end_pos
want_flush = self.lookahead.add_move(move)
if want_flush:
@ -500,16 +505,38 @@ class ToolHead:
break
eventtime = self.reactor.pause(eventtime + 0.100)
def set_extruder(self, extruder, extrude_pos):
prev_ea_trapq = self.extruder.get_trapq()
# XXX - should use add_extra_axis
prev_ea_trapq = self.extra_axes[0].get_trapq()
if prev_ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(prev_ea_trapq)
self.extruder = extruder
self.extra_axes[0] = extruder
self.commanded_pos[3] = extrude_pos
ea_trapq = extruder.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
def get_extruder(self):
return self.extruder
return self.extra_axes[0]
def add_extra_axis(self, ea, axis_pos):
self._flush_lookahead()
self.extra_axes.append(ea)
self.commanded_pos.append(axis_pos)
ea_trapq = ea.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
self.printer.send_event("toolhead:update_extra_axes")
def remove_extra_axis(self, ea):
self._flush_lookahead()
if ea not in self.extra_axes:
return
ea_index = self.extra_axes.index(ea) + 3
ea_trapq = ea.get_trapq()
if ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(ea_trapq)
self.commanded_pos.pop(ea_index)
self.extra_axes.pop(ea_index - 3)
self.printer.send_event("toolhead:update_extra_axes")
def get_extra_axes(self):
return [None, None, None] + self.extra_axes
# Homing "drip move" handling
def drip_update_time(self, next_print_time, drip_completion, addstepper=()):
# Transition from "NeedPrime"/"Priming"/main state to "Drip" state
@ -593,12 +620,13 @@ class ToolHead:
def get_status(self, eventtime):
print_time = self.print_time
estimated_print_time = self.mcu.estimated_print_time(eventtime)
extruder = self.extra_axes[0]
res = dict(self.kin.get_status(eventtime))
res.update({ 'print_time': print_time,
'stalls': self.print_stall,
'estimated_print_time': estimated_print_time,
'extruder': self.extruder.get_name(),
'position': self.Coord(*self.commanded_pos),
'extruder': extruder.get_name(),
'position': self.Coord(*self.commanded_pos[:4]),
'max_velocity': self.max_velocity,
'max_accel': self.max_accel,
'minimum_cruise_ratio': self.min_cruise_ratio,