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1. use the sensor registered in heaters
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2. rename object name filafeeders.
3. fix bug.
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@GuoGeTiertime
GuoGeTiertime committed Jan 12, 2024
1 parent 86fa8aa commit edf52df
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Showing 2 changed files with 30 additions and 14 deletions.
2 changes: 1 addition & 1 deletion klippy/extras/feeder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,5 +5,5 @@
# This file may be distributed under the terms of the GNU GPLv3 license.

def load_config_prefix(config):
pfeeders = config.get_printer().load_object(config, 'feeders')
pfeeders = config.get_printer().load_object(config, 'filafeeders')
return pfeeders.setup_feeder(config)
42 changes: 29 additions & 13 deletions klippy/extras/filafeeders.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,13 +47,16 @@ def __init__(self, config, sensor):
self.next_feed_time = 0.
self.last_feed_len = 0.
self.last_feed_speed = 1.
self.total_feed_len = 0.0

self.last_feed_time = 0.0
# Setup control algorithm sub-class
algos = {'watermark': ControlBangBang, 'pid': ControlPID}
algo = config.getchoice('control', algos)
self.control = algo(self, config)
# Setup output feeder motor
self.feeder_motor = config.get('feeder_motor')
self.stepper = self.printer.lookup_object(self.feeder_motor)
# self.stepper = self.printer.lookup_object(self.feeder_motor)
# ppins = self.printer.lookup_object('pins')
# self.mcu_pwm = ppins.setup_pin('pwm', feeder_pin)
# pwm_cycle_time = config.getfloat('pwm_cycle_time', 0.100, above=0.,
Expand All @@ -67,6 +70,8 @@ def __init__(self, config, sensor):
gcode.register_mux_command("SET_FEEDER_DISTANCE", "FEEDER",
self.name, self.cmd_SET_FEEDER_DISTANCE,
desc=self.cmd_SET_FEEDER_DISTANCE_help)

# test command: SET_FEEDER_DISTANCE FEEDER=feeder0 TARGET=1.23

def set_feed(self, read_time, value): # set feed len with speed. value is the length to feed.
if self.target_dis <= 0.:
Expand All @@ -85,8 +90,11 @@ def set_feed(self, read_time, value): # set feed len with speed. value is the le
# execute gcode command to feed filament.
gcode = self.printer.lookup_object("gcode")
speed = speed * 60.0 # convert to mm/min.
pos = self.stepper.get_position() + self.last_feed_len
cmd = "MANUAL_STEPPER STEPPER=%s ENABLE=1 SPEED=%d ACCEL=1000 MOVE=%.3f " % (self.feeder_motor, speed, pos)
# pos = self.stepper.get_position() + self.last_feed_len
# cmd = "MANUAL_STEPPER STEPPER=%s ENABLE=1 SPEED=%d ACCEL=1000 MOVE=%.3f " % (self.feeder_motor, speed, pos)
pos = self.last_feed_len
self.total_feed_len = pos
cmd = "MANUAL_STEPPER STEPPER=%s ENABLE=1 SET_POSITION=0 SPEED=%d ACCEL=1000 MOVE=%.3f " % (self.feeder_motor, speed, pos)
gcode.do_command(cmd)
logging.info("run filament feed gcode: %s", cmd)

Expand Down Expand Up @@ -125,10 +133,10 @@ def set_distance(self, distance):
self.target_dis = distance

def get_distance(self, eventtime):
print_time = self.mcu_pwm.get_mcu().estimated_print_time(eventtime) - 5.
# print_time = self.mcu_pwm.get_mcu().estimated_print_time(eventtime) - 5.
with self.lock:
if self.last_feed_time < print_time:
return 0., self.target_dis
# if self.last_feed_time < print_time:
# return 0., self.target_dis
return self.smoothed_dis, self.target_dis

def check_busy(self, eventtime):
Expand Down Expand Up @@ -164,12 +172,16 @@ def get_status(self, eventtime):
last_pwm_value = self.last_pwm_value
return {'distance': round(smoothed_dis, 2), 'target': target_dis,
'power': last_pwm_value}

cmd_SET_FEEDER_DISTANCE_help = "Sets a feeder hold distance"

def cmd_SET_FEEDER_DISTANCE(self, gcmd):
distance = gcmd.get_float('TARGET', 0.)
pfeeders = self.printer.lookup_object('feeders')
pfeeders.set_distance(self, distance)
# distance = gcmd.get_float('TARGET', 0.)
gcode = self.printer.lookup_object("gcode")
ok_msg = "ok %s" % (gcmd)
gcode.respond_raw(ok_msg)
# pfeeders = self.printer.lookup_object('filafeeders')
# pfeeders.set_distance(self, distance)


######################################################################
Expand All @@ -190,7 +202,8 @@ def distance_update(self, read_time, dis, target_dis):
elif not self.feeding and dis <= target_dis-self.max_delta:
self.feeding = True
if self.feeding: # feed filament with max speed. time is the sensor report time.
self.feeder.set_feed(read_time, self.feed_len)
len = max(self.feed_len, target_dis - dis)
self.feeder.set_feed(read_time, len)
else:
self.feeder.set_feed(read_time, 0.)

Expand Down Expand Up @@ -321,6 +334,9 @@ def setup_sensor(self, config):
if not self.have_load_sensors:
self.load_config(config)
sensor_type = config.get('sensor_type')
pheaters = self.printer.lookup_object("heaters")
if sensor_type in pheaters.sensor_factories: # use the sensor registered in heaters.
return pheaters.sensor_factories[sensor_type](config)
if sensor_type not in self.sensor_factories:
raise self.printer.config_error(
"Unknown feeder distance sensor '%s'" % (sensor_type,))
Expand Down Expand Up @@ -363,7 +379,7 @@ def _get_dis(self, eventtime):
out = []
if self.has_started:
for gcode_id, sensor in sorted(self.gcode_id_to_sensor.items()):
cur, target = sensor.get_temp(eventtime) # 用温度来表示距离
cur, target = sensor.get_distance(eventtime) # 用温度来表示距离
out.append("Feeder %s:%.1f /%.1f" % (gcode_id, cur, target))
if not out:
return "T:0"
Expand Down Expand Up @@ -392,8 +408,8 @@ def _wait_for_distance(self, feeder):
eventtime = reactor.pause(eventtime + 1.)

def set_distance(self, feeder, dis, wait=False):
toolhead = self.printer.lookup_object('toolhead')
toolhead.register_lookahead_callback((lambda pt: None))
# toolhead = self.printer.lookup_object('toolhead')
# toolhead.register_lookahead_callback((lambda pt: None))
feeder.set_distance(dis)
if wait and dis:
self._wait_for_distance(feeder)
Expand Down

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