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Parametrization of ramming and loading sequence - first steps

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This commit is contained in:
Lukas Matena 2018-01-04 12:03:06 +01:00
parent 180967484e
commit 37bbeeb9d0
2 changed files with 142 additions and 49 deletions
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190
xs/src/libslic3r/GCode/WipeTowerPrusaMM.cpp
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@ -15,6 +15,14 @@
#endif #endif
// experimental: ramming speed (mm^3/s) sampled in 0.25s intervals (one filament so far)
const std::vector<float> ramming_speed = {7.6, 7.6, 7.6, 7.6, 9.0, 9.0, 9.0, 10.7, 10.7, 10.7};
// experimental: time requested for cooling in seconds (common for all materials so far)
const float cooling_time = 14; // PVA: 20; SCAFF: 17
const float loading_volume = 20;
namespace Slic3r namespace Slic3r
{ {
@ -562,6 +570,7 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, boo
} }
}*/ }*/
// Finds this toolchange info
if (tool != (unsigned int)(-1)) { if (tool != (unsigned int)(-1)) {
for (const auto &b : m_layer_info->tool_changes) for (const auto &b : m_layer_info->tool_changes)
if ( b.new_tool == tool ) if ( b.new_tool == tool )
@ -779,15 +788,51 @@ void WipeTowerPrusaMM::toolchange_Unload(
{ {
float xl = cleaning_box.ld.x + 0.5f * m_perimeter_width; float xl = cleaning_box.ld.x + 0.5f * m_perimeter_width;
float xr = cleaning_box.rd.x - 0.5f * m_perimeter_width; float xr = cleaning_box.rd.x - 0.5f * m_perimeter_width;
float y_step = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width;
writer.append("; CP TOOLCHANGE UNLOAD\n"); writer.append("; CP TOOLCHANGE UNLOAD\n");
// Ram the hot material out of the extruder melt zone. // Ram the hot material out of the extruder melt zone.
// Current extruder position is on the left, one perimeter inside the cleaning box in both X and Y. // Current extruder position is on the left, one perimeter inside the cleaning box in both X and Y.
float e0 = m_perimeter_width * m_extrusion_flow; //float e0 = m_perimeter_width * m_extrusion_flow;
float e = (xr - xl) * m_extrusion_flow; //float e = (xr - xl) * m_extrusion_flow;
switch (current_material) //float y_step = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width * ramming_step_multiplicator;
constexpr float ramming_step_multiplicator = 1.f; // extra spacing needed for some materials
const float line_width = m_line_width * 1.5f; // desired ramming line thickness
float y_step = (m_current_shape == SHAPE_NORMAL ? 1.f : -1.f) * // spacing between lines in mm
line_width * ramming_step_multiplicator;
int i = 0; // iterates through ramming_speed
m_left_to_right = true; // current direction of ramming
float remaining = xr - xl - 2 * m_perimeter_width; // keeps track of distance to the next turnaround
float e_done = 0; // measures E move done from each segment
writer.travel(xl + m_perimeter_width, writer.y() + y_step * 0.2); // move to starting position
while (i < ramming_speed.size()) {
const float x = (ramming_speed[i] * 0.25f) / // extrusion length to get desired line_width
(m_layer_height * (line_width - m_layer_height * (1. - M_PI / 4.)));
const float e = ramming_speed[i] * 0.25f / Filament_Area; // transform volume per sec to E move;
const float dist = std::min(x - e_done, remaining); // distance to travel for the next 0.25s
writer.ram(writer.x(), writer.x() + (m_left_to_right ? 1.f : -1.f) * dist, 0, 0, e * (dist / x), std::hypot(dist, e * (dist / x)) / (0.25 / 60.));
remaining -= dist;
if ( remaining < WT_EPSILON ) { // we reached a turning point
writer.travel(writer.x(), writer.y() + y_step);
m_left_to_right = !m_left_to_right;
remaining = xr - xl - 2 * m_perimeter_width;
}
e_done += dist; // subtract what was actually transversed
if (e_done > x - WT_EPSILON) { // current segment finished
++i;
e_done = 0;
}
}
/*switch (current_material)
{ {
case ABS: case ABS:
// ramming start end y increment amount feedrate // ramming start end y increment amount feedrate
@ -803,7 +848,7 @@ void WipeTowerPrusaMM::toolchange_Unload(
.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 1.5f, 0, 1.75f * e, 4800) .ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 1.5f, 0, 1.75f * e, 4800)
.ram(xr - m_perimeter_width, xl + m_perimeter_width, y_step * 1.5f, 0, 1.75f * e, 5000); .ram(xr - m_perimeter_width, xl + m_perimeter_width, y_step * 1.5f, 0, 1.75f * e, 5000);
break; break;
case SCAFF: case PET: //!!! SCAFF (PET only used for testing):
writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width, y_step * 2.f, 0, 1.75f * e, 4000) writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width, y_step * 2.f, 0, 1.75f * e, 4000)
.ram(xr - m_perimeter_width, xl + m_perimeter_width, y_step * 3.f, 0, 2.34f * e, 4600) .ram(xr - m_perimeter_width, xl + m_perimeter_width, y_step * 3.f, 0, 2.34f * e, 4600)
.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 3.f, 0, 2.63f * e, 5200); .ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 3.f, 0, 2.63f * e, 5200);
@ -814,7 +859,7 @@ void WipeTowerPrusaMM::toolchange_Unload(
writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width, y_step * 0.2f, 0, 1.60f * e, 4000) writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width, y_step * 0.2f, 0, 1.60f * e, 4000)
.ram(xr - m_perimeter_width, xl + m_perimeter_width, y_step * 1.2f, e0, 1.65f * e, 4600) .ram(xr - m_perimeter_width, xl + m_perimeter_width, y_step * 1.2f, e0, 1.65f * e, 4600)
.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 1.2f, e0, 1.74f * e, 5200); .ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 1.2f, e0, 1.74f * e, 5200);
} }*/
// Pull the filament end into a cooling tube. // Pull the filament end into a cooling tube.
writer.retract(15, 5000).retract(50, 5400).retract(15, 3000).retract(12, 2000); writer.retract(15, 5000).retract(50, 5400).retract(15, 3000).retract(12, 2000);
@ -827,9 +872,45 @@ void WipeTowerPrusaMM::toolchange_Unload(
if (std::abs(writer.x() - xl) < std::abs(writer.x() - xr)) if (std::abs(writer.x() - xl) < std::abs(writer.x() - xr))
std::swap(xl, xr); std::swap(xl, xr);
// Horizontal cooling moves will be performed at the following Y coordinate: // Horizontal cooling moves will be performed at the following Y coordinate:
writer.travel(xr, writer.y() + y_step * 0.8f, 7200) /*writer.travel(xr, writer.y() + y_step * 0.8f, 7200)
.suppress_preview();*/
/*constexpr float min_cool_speed = 1600;
constexpr float max_cool_speed = 2400;
const int num_of_intervals = 4;
writer.travel(writer.x(), writer.y() + y_step)
.retract(-3,min_cool_speed)
.suppress_preview(); .suppress_preview();
switch (current_material)
int filament_direction = -1; // retract first
float cool_speed = min_cool_speed;
// Numbers 12 (24) below fix velocity in E to 12 times less than in X (total move in X assumed to be >> move in E)
for (int counter=0 ; counter < num_of_intervals ; ++counter) {
float needed_e_move = cool_speed * (cooling_time / num_of_intervals) / 12.f; // distance yet to move in E axis
do {
remaining = ( left_to_right ? xr-m_perimeter_width-writer.x() : -xl-m_perimeter_width+writer.x()); // distance to the turning point
float xmove = std::min( std::fabs(needed_e_move) * 12.f, remaining * 2.f); // distance to travel
printf("posun z %f na %f",writer.x(),writer.x()+xmove / 2.f * (left_to_right ? 1 : -1));
writer.cool(writer.x() + xmove / 2.f * (left_to_right ? 1 : -1), writer.x(), filament_direction * xmove / 24.f, filament_direction * xmove / 24.f, cool_speed);
printf(", E %f, rychlost %f\n\n",filament_direction * xmove /12.f,cool_speed);
needed_e_move -= xmove/12.f;
if (needed_e_move > WT_EPSILON)
filament_direction *= -1;
else
left_to_right = !left_to_right;
} while (needed_e_move > WT_EPSILON);
if (filament_direction==-1)
cool_speed += (max_cool_speed - min_cool_speed) / num_of_intervals;
}
writer.retract(3, max_cool_speed);*/
/*switch (current_material)
{ {
case PVA: case PVA:
writer.cool(xl, xr, 3, -5, 1600) writer.cool(xl, xr, 3, -5, 1600)
@ -851,7 +932,7 @@ void WipeTowerPrusaMM::toolchange_Unload(
.cool(xl, xr, 5, -5, 2000) .cool(xl, xr, 5, -5, 2000)
.cool(xl, xr, 5, -5, 2400) .cool(xl, xr, 5, -5, 2400)
.cool(xl, xr, 5, -3, 2400); .cool(xl, xr, 5, -3, 2400);
} }*/
writer.resume_preview() writer.resume_preview()
.flush_planner_queue(); .flush_planner_queue();
@ -881,13 +962,13 @@ void WipeTowerPrusaMM::toolchange_Load(
PrusaMultiMaterial::Writer &writer, PrusaMultiMaterial::Writer &writer,
const box_coordinates &cleaning_box) const box_coordinates &cleaning_box)
{ {
float xl = cleaning_box.ld.x + m_perimeter_width; float xl = cleaning_box.ld.x + m_perimeter_width * 0.75f;
float xr = cleaning_box.rd.x - m_perimeter_width; float xr = cleaning_box.rd.x - m_perimeter_width * 0.75f;
//FIXME flipping left / right side, so that the following toolchange_Wipe will start //FIXME flipping left / right side, so that the following toolchange_Wipe will start
// where toolchange_Load ends. // where toolchange_Load ends.
std::swap(xl, xr); //std::swap(xl, xr);
writer.append("; CP TOOLCHANGE LOAD\n") /*writer.append("; CP TOOLCHANGE LOAD\n")
// Load the filament while moving left / right, // Load the filament while moving left / right,
// so the excess material will not create a blob at a single position. // so the excess material will not create a blob at a single position.
.suppress_preview() .suppress_preview()
@ -899,9 +980,9 @@ void WipeTowerPrusaMM::toolchange_Load(
.load_move_x(xr, 20, 1600) .load_move_x(xr, 20, 1600)
.load_move_x(xl, 10, 1000) .load_move_x(xl, 10, 1000)
.resume_preview(); .resume_preview();
*/
// Extrude first five lines (just three lines if colorInit is set). // Extrude first five lines (just three lines if colorInit is set).
writer.extrude(xr, writer.y(), 1600); /*writer.extrude(xr, writer.y(), 1600);
bool colorInit = false; bool colorInit = false;
size_t pass = colorInit ? 1 : 2; size_t pass = colorInit ? 1 : 2;
float dy = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_line_width; float dy = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_line_width;
@ -910,12 +991,31 @@ void WipeTowerPrusaMM::toolchange_Load(
writer.extrude(xl, writer.y(), 2200); writer.extrude(xl, writer.y(), 2200);
writer.travel (xl, writer.y() + dy, 7200); writer.travel (xl, writer.y() + dy, 7200);
writer.extrude(xr, writer.y(), 2200); writer.extrude(xr, writer.y(), 2200);
}*/
float dy = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_line_width;
float x = (loading_volume) / (Filament_Area * m_extrusion_flow); // extrusion length to extrude desired volume
while (x > WT_EPSILON) {
float remaining = (m_left_to_right ? xr - writer.x() : writer.x() - xl );
float dist = std::min(x, remaining);
writer.extrude(writer.x() + (m_left_to_right ? 1.f : -1.f) * dist, writer.y(), 2200);
x -= dist;
if (x > WT_EPSILON) { // don't switch it for the last (unfinished) line
m_left_to_right = !m_left_to_right;
writer.travel(writer.x(), writer.y() + dy, 7200);
}
else // advance just a fraction for debugging (to see where the load ends) (FIXME - HAS to be deleted, can pass the edge)
writer.travel(writer.x()+(m_left_to_right ? 0.1f : -0.1f),writer.y());
} }
// Reset the extruder current to the normal value. // Reset the extruder current to the normal value.
writer.set_extruder_trimpot(550); writer.set_extruder_trimpot(550);
} }
// Wipe the newly loaded filament until the end of the assigned wipe area. // Wipe the newly loaded filament until the end of the assigned wipe area.
void WipeTowerPrusaMM::toolchange_Wipe( void WipeTowerPrusaMM::toolchange_Wipe(
PrusaMultiMaterial::Writer &writer, PrusaMultiMaterial::Writer &writer,
@ -926,8 +1026,8 @@ void WipeTowerPrusaMM::toolchange_Wipe(
writer.set_extrusion_flow(m_extrusion_flow * (m_is_first_layer ? 1.18f : 1.f)) writer.set_extrusion_flow(m_extrusion_flow * (m_is_first_layer ? 1.18f : 1.f))
.append("; CP TOOLCHANGE WIPE\n"); .append("; CP TOOLCHANGE WIPE\n");
float wipe_coeff = m_is_first_layer ? 0.5f : 1.f; float wipe_coeff = m_is_first_layer ? 0.5f : 1.f;
float xl = cleaning_box.ld.x + 2.f * m_perimeter_width; const float& xl = cleaning_box.ld.x; // + 2.f * m_perimeter_width;
float xr = cleaning_box.rd.x - 2.f * m_perimeter_width; const float& xr = cleaning_box.rd.x; // - 2.f * m_perimeter_width;
// Wipe speed will increase up to 4800. // Wipe speed will increase up to 4800.
float wipe_speed = 4200.f; float wipe_speed = 4200.f;
float wipe_speed_inc = 50.f; float wipe_speed_inc = 50.f;
@ -935,27 +1035,22 @@ void WipeTowerPrusaMM::toolchange_Wipe(
// Y increment per wipe line. // Y increment per wipe line.
float dy = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_line_width; float dy = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_line_width;
for (bool p = true; for ( int i = 0 ; true ; ++i )
// Next wipe line fits the cleaning box (and not forgetting about border)
((m_current_shape == SHAPE_NORMAL) ?
(writer.y() <= cleaning_box.lu.y - 1.5f * m_perimeter_width) :
(writer.y() >= cleaning_box.ld.y + 1.5f * m_perimeter_width));
p = ! p)
{ {
wipe_speed = std::min(wipe_speed_max, wipe_speed + wipe_speed_inc); wipe_speed = std::min(wipe_speed_max, wipe_speed + wipe_speed_inc);
if (skip_initial_y_move) if (m_left_to_right)
skip_initial_y_move = false; writer.extrude(xr - (i % 4 == 0 ? 0 : m_perimeter_width), writer.y(), wipe_speed * wipe_coeff);
else else
writer.extrude(xl - (p ? m_perimeter_width / 2 : m_perimeter_width), writer.y() + dy, wipe_speed * wipe_coeff); writer.extrude(xl + (i % 4 == 1 ? 0 : m_perimeter_width), writer.y(), wipe_speed * wipe_coeff);
writer.extrude(xr + (p ? m_perimeter_width : m_perimeter_width * 2), writer.y(), wipe_speed * wipe_coeff);
// Next wipe line fits the cleaning box. if ((m_current_shape == SHAPE_NORMAL) ? // in case next line would not fit
if ((m_current_shape == SHAPE_NORMAL) ? (writer.y() > cleaning_box.lu.y - m_perimeter_width * 1.5f) :
(writer.y() > cleaning_box.lu.y - m_perimeter_width) : (writer.y() < cleaning_box.ld.y + m_perimeter_width * 1.5f))
(writer.y() < cleaning_box.ld.y + m_perimeter_width))
break; break;
wipe_speed = std::min(wipe_speed_max, wipe_speed + wipe_speed_inc);
writer.extrude(xr + m_perimeter_width, writer.y() + dy, wipe_speed * wipe_coeff); // stepping to the next line:
writer.extrude(xl - m_perimeter_width, writer.y()); writer.extrude(writer.x() + (i % 4 == 0 ? -1.f : (i % 4 == 1 ? 1.f : 0.f)) * m_perimeter_width, writer.y() + dy);
m_left_to_right = !m_left_to_right;
} }
// Reset the extrusion flow. // Reset the extrusion flow.
writer.set_extrusion_flow(m_extrusion_flow); writer.set_extrusion_flow(m_extrusion_flow);
@ -1081,10 +1176,11 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer(Purpose purpose)
const size_t zig_zags_num = (fill_box.rd.x - fill_box.ld.x - m_perimeter_width * 12.f) / max_bridge_distance; const size_t zig_zags_num = (fill_box.rd.x - fill_box.ld.x - m_perimeter_width * 12.f) / max_bridge_distance;
const float step = (fill_box.rd.x - fill_box.ld.x - m_perimeter_width * 12.f) / (float)zig_zags_num; const float step = (fill_box.rd.x - fill_box.ld.x - m_perimeter_width * 12.f) / (float)zig_zags_num;
float offsety = std::max(0.f, dy - m_last_infill_tan * (step - m_perimeter_width)); float offsetx = std::max(0.f, dy / m_last_infill_tan > step / 2.f ? step - dy / m_last_infill_tan : 0.f);
float offsety = ( offsetx != 0 ? 0 : std::max(0.f, dy - m_last_infill_tan * (step - m_perimeter_width)) );
if (offsety < m_last_infill_tan * m_perimeter_width + WT_EPSILON || offsety > dy / 2.f) if (offsety < m_last_infill_tan * m_perimeter_width + WT_EPSILON || offsety > dy / 2.f)
offsety = 0.f; offsety = 0.f;
float offsetx = ( offsety != 0 ? 0 : std::max(0.f, dy / m_last_infill_tan > step / 2.f ? step - dy / m_last_infill_tan : 0.f ) );
for (size_t i = 0; i < zig_zags_num; ++i) for (size_t i = 0; i < zig_zags_num; ++i)
{ {
@ -1140,23 +1236,19 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer(Purpose purpose)
void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool,bool brim) void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool,bool brim)
{ {
assert(m_plan.back().z <= z_par); // refuse to add a layer below the last one assert(m_plan.back().z <= z_par); // refuse to add a layer below the last one
// volumes in mm^3 required for ramming
// hardcoded so far, in future should be calculated by integrating the speed/time curve
const std::vector<float> ram_volumes = {22,22,22,22};
// volumes in mm^3 required for wipe: {{from 0 to ...},{from 1 to ...},{from 2 to ...},{from 3 to ...}}, usage [from][to] // volumes in mm^3 required for wipe: {{from 0 to ...},{from 1 to ...},{from 2 to ...},{from 3 to ...}}, usage [from][to]
const std::vector<std::vector<float>> wipe_volumes = {{ 0, 40, 60, 80}, const std::vector<std::vector<float>> wipe_volumes = {{ 0, 40, 60,100},
{100, 0,120,100}, {100, 0,130,100},
{ 80,107, 0,110}, { 80, 90, 0,110},
{ 60, 40, 60, 0}}; { 50, 40, 60, 0}};
float depth = (wipe_volumes[old_tool][new_tool]) / (m_extrusion_flow * Filament_Area); // length of extrusion float depth = (wipe_volumes[old_tool][new_tool]) / (extrusion_flow(layer_height_par) * Filament_Area); // length of extrusion
depth += 6 * 59; // reserved for ramming depth += 6 * 59; // reserved for ramming
depth += 2 * 59; // reserved for loading depth += 2 * 59; // reserved for loading
depth -= 2 * 59; // we will also print borders depth -= 2 * 59; // we will also print borders
depth = floor(depth / m_wipe_tower_width + 1); // number of lines to extrude depth = floor(depth / m_wipe_tower_width + 1); // number of lines to extrude
depth *= m_perimeter_width; // conversion to distance depth *= m_line_width; // conversion to distance
if (m_plan.empty() || m_plan.back().z + WT_EPSILON < z_par) // if we moved to a new layer, we'll add it to m_plan along with the first toolchange if (m_plan.empty() || m_plan.back().z + WT_EPSILON < z_par) // if we moved to a new layer, we'll add it to m_plan along with the first toolchange
m_plan.push_back(WipeTowerInfo(z_par, layer_height_par)); m_plan.push_back(WipeTowerInfo(z_par, layer_height_par));

1
xs/src/libslic3r/GCode/WipeTowerPrusaMM.hpp
View File

@ -237,6 +237,7 @@ private:
// after the wipe tower brim has been extruded? // after the wipe tower brim has been extruded?
float m_initial_extra_wipe = 0.f; float m_initial_extra_wipe = 0.f;
float m_last_infill_tan = 1000.f; // impossibly high value float m_last_infill_tan = 1000.f; // impossibly high value
bool m_left_to_right = true;
float extrusion_flow(float layer_height = -1.f) const float extrusion_flow(float layer_height = -1.f) const
{ {