public PrinterStepper(ConfigWrapper config)
{
var printer = config.get_printer();
this.name = config.get_name();
this.need_motor_enable = true;
// Stepper definition
var ppins = printer.lookup_object <PrinterPins>("pins");
var step_pin = config.get("step_pin");
this.mcu_stepper = ppins.setup_pin <Mcu_stepper>("stepper", step_pin);
var dir_pin = config.get("dir_pin");
var dir_pin_params = ppins.lookup_pin(dir_pin, can_invert: true);
mcu_stepper.setup_dir_pin(dir_pin_params);
var step_dist = config.getfloat("step_distance", above: 0.0);
mcu_stepper.setup_step_distance(step_dist);
this.enable = StepperEnablePin.lookup_enable_pin(ppins, config.get("enable_pin", null));
// Register STEPPER_BUZZ command
//var force_move = printer.try_load_module(config, "force_move");
//force_move.register_stepper(this);
// Wrappers
this.step_itersolve = mcu_stepper.step_itersolve;
this.setup_itersolve = mcu_stepper.setup_itersolve;
this.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics;
this.set_ignore_move = mcu_stepper.set_ignore_move;
this.calc_position_from_coord = mcu_stepper.calc_position_from_coord;
this.set_position = mcu_stepper.set_position;
this.get_commanded_position = mcu_stepper.get_commanded_position;
this.set_commanded_position = mcu_stepper.set_commanded_position;
this.get_mcu_position = mcu_stepper.get_mcu_position;
this.get_step_dist = mcu_stepper.get_step_dist;
}
public PrinterHeaters(ConfigWrapper config)
{
this.printer = config.get_printer();
// Register TURN_OFF_HEATERS command
var gcode = this.printer.lookup_object <GCodeParser>("gcode");
gcode.register_command("TURN_OFF_HEATERS", this.cmd_TURN_OFF_HEATERS, desc: cmd_TURN_OFF_HEATERS_help);
}
public Heater(ConfigWrapper config, ISensor sensor, string gcode_id)
{
var printer = config.get_printer();
this.name = config.get_name();
this.gcode_id = gcode_id;
// Setup sensor
this.sensor = sensor;
this.min_temp = config.getfloat("min_temp", minval: KELVIN_TO_CELCIUS);
this.max_temp = config.getfloat("max_temp", above: this.min_temp);
this.sensor.setup_minmax(this.min_temp, this.max_temp);
this.sensor.setup_callback(this.temperature_callback);
this.pwm_delay = this.sensor.get_report_time_delta();
// Setup temperature checks
this.min_extrude_temp = config.getfloat("min_extrude_temp", 170.0, minval: this.min_temp, maxval: this.max_temp);
var is_fileoutput = printer.get_start_args().Get("debugoutput") != null;
this.can_extrude = this.min_extrude_temp <= 0.0 || is_fileoutput;
this.max_power = config.getfloat("max_power", 1.0, above: 0.0, maxval: 1.0);
this.smooth_time = config.getfloat("smooth_time", 2.0, above: 0.0);
this.inv_smooth_time = 1.0 / this.smooth_time;
this._lock = new object();
this.last_temp = 0.0;
this.last_temp_time = 0.0;
// pwm caching
this.next_pwm_time = 0.0;
this.last_pwm_value = 0.0;
// Setup control algorithm sub-class
//var algos = new Dictionary<string, object> { { "watermark", ControlBangBang }, { "pid", ControlPID } };
//var algo = config.getchoice("control", algos);
switch (config.get("control"))
{
case "watermark": this.control = new ControlBangBang(this, config); break;
case "pid": this.control = new ControlPID(this, config); break;
}
// Setup output heater pin
var heater_pin = config.get("heater_pin");
var ppins = printer.lookup_object <PrinterPins>("pins");
if (control is ControlBangBang && this.max_power == 1.0)
{
this.mcu_pwm = ppins.setup_pin <Mcu_digital_out>("digital_out", heater_pin);
}
else
{
var pwm = ppins.setup_pin <Mcu_pwm>("pwm", heater_pin);
var pwm_cycle_time = config.getfloat("pwm_cycle_time", 0.1, above: 0.0, maxval: this.pwm_delay);
pwm.setup_cycle_time(pwm_cycle_time);
this.mcu_pwm = pwm;
}
this.mcu_pwm.setup_max_duration(MAX_HEAT_TIME);
// Load additional modules
printer.try_load_module(config, $"verify_heater {this.name}");
printer.try_load_module(config, "pid_calibrate");
}
public ToolHead(ConfigWrapper config)
{
this.printer = config.get_printer();
this.reactor = this.printer.get_reactor();
this.all_mcus = (from mcus in this.printer.lookup_objects <Mcu>(module: "mcu") select mcus.modul).ToList();
this.mcu = this.all_mcus[0];
this.move_queue = new MoveQueue();
this.commanded_pos = Vector4d.Zero;
this.printer.register_event_handler("klippy:shutdown", _handle_shutdown);
// Velocity and acceleration control
this.max_velocity = config.getfloat("max_velocity", above: 0.0);
this.max_accel = config.getfloat("max_accel", above: 0.0);
this.requested_accel_to_decel = config.getfloat("max_accel_to_decel", this.max_accel * 0.5, above: 0.0);
this.max_accel_to_decel = this.requested_accel_to_decel;
this.square_corner_velocity = config.getfloat("square_corner_velocity", 5.0, minval: 0.0);
this.config_max_velocity = this.max_velocity;
this.config_max_accel = this.max_accel;
this.config_square_corner_velocity = this.square_corner_velocity;
this.junction_deviation = 0.0;
this._calc_junction_deviation();
// Print time tracking
this.buffer_time_low = config.getfloat("buffer_time_low", 1.0, above: 0.0);
this.buffer_time_high = config.getfloat("buffer_time_high", 2.0, above: this.buffer_time_low);
this.buffer_time_start = config.getfloat("buffer_time_start", 0.25, above: 0.0);
this.move_flush_time = config.getfloat("move_flush_time", 0.05, above: 0.0);
this.print_time = 0.0;
this.last_print_start_time = 0.0;
this.need_check_stall = -1.0;
this.print_stall = 0;
this.sync_print_time = true;
this.idle_flush_print_time = 0.0;
this.flush_timer = this.reactor.register_timer(this._flush_handler);
this.move_queue.set_flush_time(this.buffer_time_high);
this.printer.try_load_module(config, "idle_timeout");
this.printer.try_load_module(config, "statistics");
// Setup iterative solver
this.cmove = new move();
// Create kinematics class
this.extruder = new ExtruderDummy();
this.move_queue.set_extruder(this.extruder);
var kin_name = config.getEnum <KinematicType>("kinematics");
try
{
this.kin = KinematicFactory.load_kinematics(kin_name, this, config);
}
catch (ConfigException)
{
throw;
}
catch (PinsException)
{
throw;
}
catch (Exception ex)
{
var msg = $"Error loading kinematics '{kin_name}'";
logging.Error(msg);
throw new Exception(msg, ex);
}
var gcode = this.printer.lookup_object <GCodeParser>("gcode");
gcode.register_command("SET_VELOCITY_LIMIT", this.cmd_SET_VELOCITY_LIMIT, desc: cmd_SET_VELOCITY_LIMIT_help);
gcode.register_command("M204", this.cmd_M204);
}
