发布1.1.1版本
优化外置驱动问题 优化零位舵机信号不连续发送 优化其他已知Bug # Conflicts: # config/CreatBot_D1000/base.cfg resolved by fd1a6a37cc2149b4ff9f56609dc5f96d8882cb71 version # config/CreatBot_D1000_V0/base.cfg resolved by fd1a6a37cc2149b4ff9f56609dc5f96d8882cb71 version # config/CreatBot_D600Pro2/base.cfg resolved by fd1a6a37cc2149b4ff9f56609dc5f96d8882cb71 version # config/CreatBot_D600Pro2_V0/base.cfg resolved by fd1a6a37cc2149b4ff9f56609dc5f96d8882cb71 version # config/CreatBot_F430NX/base.cfg resolved by fd1a6a37cc2149b4ff9f56609dc5f96d8882cb71 version # klippy/extras/servo.py resolved by fd1a6a37cc2149b4ff9f56609dc5f96d8882cb71 version
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@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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initial_angle: 130
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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[servo switch_nozzle]
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@ -358,6 +359,7 @@ z_hop_speed: 10
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gcode:
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SET_STEPPER_ENABLE STEPPER=stepper_x ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_y ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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SET_KINEMATIC_POSITION X=500 Y=500 Z=0
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[gcode_macro T0]
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@ -555,6 +557,7 @@ gcode:
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{% if not homing_cmd %}
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SET_STEPPER_ENABLE STEPPER=stepper_x ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_y ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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G4 P300
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C28
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_ACTIVATE_DEFAULT_EXTRUDER
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@ -949,6 +952,8 @@ gcode:
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{% if hotend == "extruder1" %}
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{% set z_offset_total = z_offset_total + z_offset %}
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{% endif %}
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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G4 P300
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M118 Recovery in progress, please wait
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RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
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SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
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@ -173,7 +173,7 @@ max_power: 1.0
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pin:PC6
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max_power: 1.0
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kick_start_time: 0.5
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heater: extruder
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heater: extruder, extruder1
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off_below: 0.10
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heater_temp: 100
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@ -274,6 +274,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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initial_angle: 130
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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[servo switch_nozzle]
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@ -294,6 +295,7 @@ z_hop_speed: 10
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gcode:
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SET_STEPPER_ENABLE STEPPER=stepper_x ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_y ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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SET_KINEMATIC_POSITION X=500 Y=500 Z=0
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[gcode_macro T0]
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@ -885,6 +887,8 @@ gcode:
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{% if hotend == "extruder1" %}
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{% set z_offset_total = z_offset_total + z_offset %}
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{% endif %}
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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G4 P300
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M118 Recovery in progress, please wait
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RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
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SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
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@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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initial_angle: 130
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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[servo switch_nozzle]
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@ -358,6 +359,7 @@ z_hop_speed: 10
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gcode:
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SET_STEPPER_ENABLE STEPPER=stepper_x ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_y ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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SET_KINEMATIC_POSITION X=300 Y=300 Z=0
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[gcode_macro T0]
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@ -660,7 +662,7 @@ gcode:
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{% set toolchange = client.change_runout|lower|default("") %}
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{% set extruder_filament = client.filament_state.extruder %}
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{% set extruder1_filament = client.filament_state.extruder1 %}
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{% set resume_extruder = client.resume_extruder %}
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{% set resume_extruder = client.resume_extruder|default("extruder") %}
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{% if autoshift_on == 'true' %}
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{% if extruder_filament and extruder1_filament %}
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@ -772,7 +774,6 @@ gcode:
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{% set autoshift = printer.save_variables.variables.auto_change_nozzle|default(False) %}
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{% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
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{% set do_resume = False %}
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{% set prompt_txt = [] %}
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{% set runout = True %}
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##### end of definitions #####
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_FILAMENT_UPDATE
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@ -944,6 +945,8 @@ gcode:
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{% if hotend == "extruder1" %}
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{% set z_offset_total = z_offset_total + z_offset %}
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{% endif %}
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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G4 P300
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M118 Recovery in progress, please wait
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RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
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SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
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@ -163,6 +163,7 @@ runout_gcode: _RUNOUT_HANDLE
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event_delay: 3.0
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pause_delay: 0.5
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switch_pin: ^PC15
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[fan]
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pin:PC7
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kick_start_time: 0.5
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@ -173,7 +174,7 @@ max_power: 1.0
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pin:PC6
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max_power: 1.0
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kick_start_time: 0.5
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heater: extruder
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heater: extruder, extruder1
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off_below: 0.10
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heater_temp: 100
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@ -274,6 +275,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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initial_angle: 130
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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[servo switch_nozzle]
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@ -294,6 +296,7 @@ z_hop_speed: 10
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gcode:
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SET_STEPPER_ENABLE STEPPER=stepper_x ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_y ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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SET_KINEMATIC_POSITION X=300 Y=300 Z=0
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[gcode_macro T0]
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@ -708,7 +711,6 @@ gcode:
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{% set autoshift = printer.save_variables.variables.auto_change_nozzle|default(False) %}
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{% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
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{% set do_resume = False %}
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{% set prompt_txt = [] %}
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{% set runout = True %}
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##### end of definitions #####
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_FILAMENT_UPDATE
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@ -880,6 +882,8 @@ gcode:
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{% if hotend == "extruder1" %}
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{% set z_offset_total = z_offset_total + z_offset %}
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{% endif %}
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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G4 P300
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M118 Recovery in progress, please wait
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RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
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SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
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@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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initial_angle: 165
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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@ -419,6 +420,7 @@ z_hop:5
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gcode:
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SET_STEPPER_ENABLE STEPPER=stepper_x ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_y ENABLE=1
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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SET_KINEMATIC_POSITION X=200 Y=150 Z=0
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[gcode_macro _RESTORE_DEFAULT_EXTRUDER]
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@ -471,14 +473,15 @@ gcode:
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{% endif %}
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[gcode_macro _PARK_extruder1]
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variable_x_offset: 0
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gcode:
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{% set svv = printer.save_variables.variables %}
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{% set x_offset = svv.nozzle_x_offset_val|default(0)|float %}
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ACTIVATE_EXTRUDER EXTRUDER=extruder1
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SET_DUAL_CARRIAGE CARRIAGE=1
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SAVE_GCODE_STATE NAME=park_extruder1
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G90
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G1 X{475 + (x_offset if x_offset >= 0 else -x_offset)} F6000
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G1 X{475 - (x_offset if x_offset >= 0 else 0)} F6000
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G91
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G1 X{0 if x_offset >= 0 else -x_offset} F6000
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RESTORE_GCODE_STATE NAME=park_extruder1
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[gcode_macro T1]
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@ -502,7 +505,8 @@ gcode:
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SET_DUAL_CARRIAGE CARRIAGE=1
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SAVE_GCODE_STATE NAME=park1
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G90
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G1 X{455 + (x_offset if x_offset >= 0 else -x_offset)} F6000
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G1 X{455-x_offset} F6000
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SET_GCODE_VARIABLE MACRO=_PARK_extruder1 VARIABLE=x_offset VALUE="{x_offset}"
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RESTORE_GCODE_STATE NAME=park1
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{% if "z" in printer.toolhead.homed_axes | lower %}
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SET_GCODE_OFFSET Z={z_offset} MOVE=1
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@ -1165,6 +1169,8 @@ gcode:
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{% if hotend == "extruder1" %}
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{% set z_offset_total = z_offset_total + z_offset %}
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{% endif %}
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SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
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G4 P300
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M118 Recovery in progress, please wait
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RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
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SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
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@ -16,6 +16,7 @@ class PrinterServo:
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above=self.min_width,
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below=SERVO_SIGNAL_PERIOD)
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self.max_angle = config.getfloat('maximum_servo_angle', 180.)
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self.signal_duration = config.getfloat('signal_duration', 0, minval=0.)
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self.steps_decomposed = config.getint('steps_decomposed', 0)
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self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
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self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
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@ -34,6 +35,8 @@ class PrinterServo:
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self.mcu_servo.setup_max_duration(0.)
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self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
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self.mcu_servo.setup_start_value(self.initial_pwm, 0.)
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# Register event handler
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self.printer.register_event_handler("klippy:ready", self._handle_ready)
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# Register commands
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servo_name = config.get_name().split()[1]
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gcode = self.printer.lookup_object('gcode')
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@ -49,11 +52,10 @@ class PrinterServo:
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self.mcu_servo.set_pwm(print_time, value)
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self.last_value = value
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self.last_value_time = print_time
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def get_s_curve_value(self, last_value, value, t):
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self._handle_signal_duration(print_time)
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def _get_s_curve_value(self, last_value, value, t):
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smooth_factor = t * t * (3 - 2 * t)
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return last_value + smooth_factor * (value - last_value)
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def _set_low_pwm(self, print_time, value):
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if value == self.last_value:
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return
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@ -62,12 +64,21 @@ class PrinterServo:
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steps = self.steps_decomposed
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for step in range(steps):
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t = step / (steps - 1)
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current_value = self.get_s_curve_value(self.last_value, value, t)
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current_value = self._get_s_curve_value(self.last_value, value, t)
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print_time = max(print_time, self.last_value_time + 0.02)
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self.mcu_servo.set_pwm(print_time, current_value)
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self.last_value_time = print_time
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self.last_value = value
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self._handle_signal_duration(print_time)
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def _handle_signal_duration(self, print_time):
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if self.signal_duration:
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if abs(self.signal_duration / 0.02 - round(self.signal_duration / 0.02)) < 1e-9:
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self.signal_duration -= 0.001
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print_time = max(print_time, print_time + self.signal_duration)
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self.mcu_servo.set_pwm(print_time, 0)
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def _handle_ready(self):
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self._handle_signal_duration(print_time)
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def _get_pwm_from_angle(self, angle):
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angle = max(0., min(self.max_angle, angle))
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width = self.min_width + angle * self.angle_to_width
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