From fd49cc371c07e52348a85c325510bf2c627ba7f5 Mon Sep 17 00:00:00 2001 From: zkk <1007518571@qq.com> Date: Fri, 10 Jan 2025 13:40:55 +0800 Subject: [PATCH] =?UTF-8?q?=E5=85=A8=E7=B3=BB=E9=99=8D=E4=BD=8E=E6=8E=A2?= =?UTF-8?q?=E6=B5=8B=E8=88=B5=E6=9C=BA=E9=80=9F=E5=BA=A6=EF=BC=8C=E4=BF=AE?= =?UTF-8?q?=E5=A4=8DF430NX=E5=B7=B2=E7=9F=A5=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- config/CreatBot_D1000/base.cfg | 3 ++- config/CreatBot_D1000_V0/base.cfg | 3 ++- config/CreatBot_D600Pro2/base.cfg | 3 ++- config/CreatBot_D600Pro2_V0/base.cfg | 3 ++- config/CreatBot_F430NX/base.cfg | 24 +++++++++++++++--- klippy/extras/servo.py | 38 +++++++++++++++++++++++----- 6 files changed, 61 insertions(+), 13 deletions(-) diff --git a/config/CreatBot_D1000/base.cfg b/config/CreatBot_D1000/base.cfg index e5308dfbe..27667fcdc 100644 --- a/config/CreatBot_D1000/base.cfg +++ b/config/CreatBot_D1000/base.cfg @@ -337,6 +337,7 @@ maximum_servo_angle: 180 minimum_pulse_width: 0.000900 maximum_pulse_width: 0.002100 initial_angle: 130 +steps_decomposed: 60 # initial_pulse_width: [servo switch_nozzle] @@ -411,7 +412,7 @@ gcode: [gcode_macro PROBE_SERVO_OPEN] gcode: SET_SERVO SERVO=probe_servo angle=15 - G4 P1000 + G4 P2000 [gcode_macro PROBE_SERVO_CLOSE] gcode: diff --git a/config/CreatBot_D1000_V0/base.cfg b/config/CreatBot_D1000_V0/base.cfg index a9a85bf55..144e14073 100644 --- a/config/CreatBot_D1000_V0/base.cfg +++ b/config/CreatBot_D1000_V0/base.cfg @@ -273,6 +273,7 @@ maximum_servo_angle: 180 minimum_pulse_width: 0.000900 maximum_pulse_width: 0.002100 initial_angle: 130 +steps_decomposed: 60 # initial_pulse_width: [servo switch_nozzle] @@ -347,7 +348,7 @@ gcode: [gcode_macro PROBE_SERVO_OPEN] gcode: SET_SERVO SERVO=probe_servo angle=15 - G4 P1000 + G4 P2000 [gcode_macro PROBE_SERVO_CLOSE] gcode: diff --git a/config/CreatBot_D600Pro2/base.cfg b/config/CreatBot_D600Pro2/base.cfg index c9cae1170..d7d171e09 100644 --- a/config/CreatBot_D600Pro2/base.cfg +++ b/config/CreatBot_D600Pro2/base.cfg @@ -337,6 +337,7 @@ maximum_servo_angle: 180 minimum_pulse_width: 0.000900 maximum_pulse_width: 0.002100 initial_angle: 130 +steps_decomposed: 60 # initial_pulse_width: [servo switch_nozzle] @@ -411,7 +412,7 @@ gcode: [gcode_macro PROBE_SERVO_OPEN] gcode: SET_SERVO SERVO=probe_servo angle=15 - G4 P1000 + G4 P2000 [gcode_macro PROBE_SERVO_CLOSE] gcode: diff --git a/config/CreatBot_D600Pro2_V0/base.cfg b/config/CreatBot_D600Pro2_V0/base.cfg index b93483986..fd5845d8a 100644 --- a/config/CreatBot_D600Pro2_V0/base.cfg +++ b/config/CreatBot_D600Pro2_V0/base.cfg @@ -273,6 +273,7 @@ maximum_servo_angle: 180 minimum_pulse_width: 0.000900 maximum_pulse_width: 0.002100 initial_angle: 130 +steps_decomposed: 60 # initial_pulse_width: [servo switch_nozzle] @@ -347,7 +348,7 @@ gcode: [gcode_macro PROBE_SERVO_OPEN] gcode: SET_SERVO SERVO=probe_servo angle=15 - G4 P1000 + G4 P2000 [gcode_macro PROBE_SERVO_CLOSE] gcode: diff --git a/config/CreatBot_F430NX/base.cfg b/config/CreatBot_F430NX/base.cfg index 1c5b869ef..e340eb07b 100644 --- a/config/CreatBot_F430NX/base.cfg +++ b/config/CreatBot_F430NX/base.cfg @@ -337,6 +337,7 @@ maximum_servo_angle: 180 minimum_pulse_width: 0.000900 maximum_pulse_width: 0.002100 initial_angle: 165 +steps_decomposed: 60 # initial_pulse_width: @@ -477,7 +478,7 @@ gcode: SET_DUAL_CARRIAGE CARRIAGE=1 SAVE_GCODE_STATE NAME=park_extruder1 G90 - G1 X{475 - (x_offset if x_offset >= 0 else -x_offset)} F6000 + G1 X{475 + (x_offset if x_offset >= 0 else -x_offset)} F6000 RESTORE_GCODE_STATE NAME=park_extruder1 [gcode_macro T1] @@ -561,7 +562,7 @@ gcode: [gcode_macro PROBE_SERVO_OPEN] gcode: SET_SERVO SERVO=probe_servo angle=45 - G4 P500 + G4 P2000 [gcode_macro PROBE_SERVO_CLOSE] gcode: @@ -951,6 +952,21 @@ gcode: {% endif %} {% endif %} +[gcode_macro _REAPPLY_OFFSET] +gcode: + {% set re_extruder = printer['gcode_macro RESUME'].resume_extruder|default("extruder") %} + {% set svv = printer.save_variables.variables %} + {% set x_offset = svv.nozzle_x_offset_val|default(0)|float %} + {% set y_offset = svv.nozzle_y_offset_val|default(0)|float %} + {% set z_offset = svv.nozzle_z_offset_val|default(0)|float %} + {% set is_extruder = printer.toolhead.extruder == "extruder" %} + + {% if printer.toolhead.extruder!= re_extruder %} + SET_GCODE_OFFSET Z={0 if is_extruder else z_offset} MOVE=1 + SET_GCODE_OFFSET Y={0 if is_extruder else y_offset} + SET_GCODE_OFFSET X={0 if is_extruder else x_offset} + {% endif %} + [gcode_macro RESUME] description: Resume the actual running print rename_existing: RESUME_BASE @@ -1011,6 +1027,7 @@ gcode: {client.user_resume_macro|default("")} _CLIENT_EXTRUDE RESUME_BASE VELOCITY={params.VELOCITY|default(sp_move)} + _REAPPLY_OFFSET SET_GCODE_VARIABLE MACRO=RESUME VARIABLE=change_runout VALUE="None" {% else %} {% set msg = "Left" if printer.toolhead.extruder == "extruder" else "Right" %} @@ -1069,6 +1086,7 @@ gcode: {% set svv = printer.save_variables.variables %} {% set autoshift_extruder = svv.auto_change_nozzle|default(False) %} {% set filament_state = printer['gcode_macro RESUME'].filament_state.runout|default(False) %} + {% set extruder_runout = printer['gcode_macro RESUME'].filament_state.extruder|default(False) %} {% set target_extruder = "extruder1" if printer.toolhead.extruder == "extruder" else "extruder" %} {% set idex = False %} {% if printer["dual_carriage"] is defined %} @@ -1086,7 +1104,7 @@ gcode: RESPOND TYPE=error MSG='{"Noting! All extruders filament has been run out."}' {% endif %} {% else %} - {% set msg = "Left" if printer.toolhead.extruder == "extruder" else "Right" %} + {% set msg = "Right" if extruder_runout else "Left" %} RESPOND TYPE=error MSG='{"Noting! %s extruder filament has been run out." % msg}' {% endif %} {% endif %} diff --git a/klippy/extras/servo.py b/klippy/extras/servo.py index c05c9f819..e705e7eb8 100644 --- a/klippy/extras/servo.py +++ b/klippy/extras/servo.py @@ -16,23 +16,24 @@ class PrinterServo: above=self.min_width, below=SERVO_SIGNAL_PERIOD) self.max_angle = config.getfloat('maximum_servo_angle', 180.) + self.steps_decomposed = config.getint('steps_decomposed', 0) self.angle_to_width = (self.max_width - self.min_width) / self.max_angle self.width_to_value = 1. / SERVO_SIGNAL_PERIOD self.last_value = self.last_value_time = 0. - initial_pwm = 0. + self.initial_pwm = 0. iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.) if iangle is not None: - initial_pwm = self._get_pwm_from_angle(iangle) + self.initial_pwm = self._get_pwm_from_angle(iangle) else: iwidth = config.getfloat('initial_pulse_width', 0., minval=0., maxval=self.max_width) - initial_pwm = self._get_pwm_from_pulse_width(iwidth) + self.initial_pwm = self._get_pwm_from_pulse_width(iwidth) # Setup mcu_servo pin ppins = self.printer.lookup_object('pins') self.mcu_servo = ppins.setup_pin('pwm', config.get('pin')) self.mcu_servo.setup_max_duration(0.) self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD) - self.mcu_servo.setup_start_value(initial_pwm, 0.) + self.mcu_servo.setup_start_value(self.initial_pwm, 0.) # Register commands servo_name = config.get_name().split()[1] gcode = self.printer.lookup_object('gcode') @@ -48,6 +49,25 @@ class PrinterServo: self.mcu_servo.set_pwm(print_time, value) self.last_value = value self.last_value_time = print_time + + def get_s_curve_value(self, last_value, value, t): + smooth_factor = t * t * (3 - 2 * t) + return last_value + smooth_factor * (value - last_value) + + def _set_low_pwm(self, print_time, value): + if value == self.last_value: + return + if self.last_value == 0: + self.last_value = self.initial_pwm + steps = self.steps_decomposed + for step in range(steps): + t = step / (steps - 1) + current_value = self.get_s_curve_value(self.last_value, value, t) + print_time = max(print_time, self.last_value_time + 0.02) + self.mcu_servo.set_pwm(print_time, current_value) + self.last_value_time = print_time + self.last_value = value + def _get_pwm_from_angle(self, angle): angle = max(0., min(self.max_angle, angle)) width = self.min_width + angle * self.angle_to_width @@ -61,10 +81,16 @@ class PrinterServo: print_time = self.printer.lookup_object('toolhead').get_last_move_time() width = gcmd.get_float('WIDTH', None) if width is not None: - self._set_pwm(print_time, self._get_pwm_from_pulse_width(width)) + if self.steps_decomposed: + self._set_low_pwm(print_time, self._get_pwm_from_pulse_width(width)) + else: + self._set_pwm(print_time, self._get_pwm_from_pulse_width(width)) else: angle = gcmd.get_float('ANGLE') - self._set_pwm(print_time, self._get_pwm_from_angle(angle)) + if self.steps_decomposed: + self._set_low_pwm(print_time, self._get_pwm_from_angle(angle)) + else: + self._set_pwm(print_time, self._get_pwm_from_angle(angle)) def load_config_prefix(config): return PrinterServo(config)