amd/orcaslicer
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions 1

ENH: update jerk strategy according to printer

Browse source 
Jerk handling has been changed in printer.
Changed in slicer as well.

Signed-off-by: salt.wei <salt.wei@bambulab.com>
Change-Id: Ic3aef43a534a7f0b85b734e747dc3ca883faaa46
This commit is contained in:
salt.wei 2022-11-01 09:46:01 +08:00 committed by Lane.Wei
parent 4b7ad20159
commit c70e8d486f
5 changed files with 56 additions and 31 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
resources/profiles/BBL.json
View file

@ -1,7 +1,7 @@
{
"name": "Bambulab",
"url": "http://www.bambulab.com/Parameters/vendor/BBL.json",
"version": "01.03.00.13",
"version": "01.04.00.01",
"force_update": "0",
"description": "the initial version of BBL configurations",
"machine_model_list": [

4
resources/profiles/BBL/machine/fdm_bbl_3dp_001_common.json
View file

@ -93,8 +93,8 @@
"9"
],
"machine_max_jerk_z": [
"0.2",
"0.4"
"3",
"3"
],
"machine_min_extruding_rate": [
"0",

2
resources/profiles/BBL/machine/fdm_machine_common.json
View file

@ -55,7 +55,7 @@
"8"
],
"machine_max_jerk_z": [
"0.4"
"3"
],
"machine_min_extruding_rate": [
"0"

78
src/libslic3r/GCode/GCodeProcessor.cpp
View file

@ -2740,23 +2740,30 @@ void GCodeProcessor::process_G1(const GCodeReader::GCodeLine& line)
float v_factor = 1.0f;
bool limited = false;
//BBS: currently jerk in x,y,z axis are combined to one value and be limited together in MC side
//So we only need to handle Z axis
for (unsigned char a = X; a <= E; ++a) {
// Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop.
//BBS
float jerk = 0;
if (a == X) {
Vec3f exit_v = prev.feedrate * (prev.exit_direction);
exit_v(2, 0) = 0;
if (prev_speed_larger)
exit_v *= smaller_speed_factor;
Vec3f entry_v = block.feedrate_profile.cruise * (curr.enter_direction);
Vec3f jerk_v = entry_v - exit_v;
jerk = jerk_v.norm();
} else if (a == Y || a == Z) {
jerk_v = Vec3f(abs(jerk_v.x()), abs(jerk_v.y()), abs(jerk_v.z()));
Vec3f max_xyz_jerk_v = get_xyz_max_jerk(static_cast<PrintEstimatedStatistics::ETimeMode>(i));
for (size_t i = 0; i < 3; i++)
{
if (jerk_v[i] > max_xyz_jerk_v[i]) {
v_factor *= max_xyz_jerk_v[i] / jerk_v[i];
jerk_v *= v_factor;
limited = true;
}
}
}
else if (a == Y || a == Z) {
continue;
} else {
}
else {
float v_exit = prev.axis_feedrate[a];
float v_entry = curr.axis_feedrate[a];
@ -2769,7 +2776,7 @@ void GCodeProcessor::process_G1(const GCodeReader::GCodeLine& line)
}
// Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction.
jerk =
float jerk =
(v_exit > v_entry) ?
(((v_entry > 0.0f) || (v_exit < 0.0f)) ?
// coasting
@ -2782,12 +2789,13 @@ void GCodeProcessor::process_G1(const GCodeReader::GCodeLine& line)
(v_entry - v_exit) :
// axis reversal
std::max(-v_exit, v_entry));
}
float axis_max_jerk = get_axis_max_jerk(static_cast<PrintEstimatedStatistics::ETimeMode>(i), static_cast<Axis>(a));
if (jerk > axis_max_jerk) {
v_factor *= axis_max_jerk / jerk;
limited = true;
float axis_max_jerk = get_axis_max_jerk(static_cast<PrintEstimatedStatistics::ETimeMode>(i), static_cast<Axis>(a));
if (jerk > axis_max_jerk) {
v_factor *= axis_max_jerk / jerk;
limited = true;
}
}
}
@ -3135,22 +3143,30 @@ void GCodeProcessor::process_G2_G3(const GCodeReader::GCodeLine& line)
float v_factor = 1.0f;
bool limited = false;
//BBS: currently jerk in x,y,z axis are combined to one value and be limited together in MC side
//So we only need to handle Z axis
for (unsigned char a = X; a <= E; ++a) {
//BBS: Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop.
float jerk = 0;
if (a == X) {
Vec3f exit_v = prev.feedrate * (prev.exit_direction);
exit_v(2, 0) = 0;
if (prev_speed_larger)
exit_v *= smaller_speed_factor;
Vec3f entry_v = block.feedrate_profile.cruise * (curr.enter_direction);
Vec3f jerk_v = entry_v - exit_v;
jerk = jerk_v.norm();
} else if (a == Y || a == Z) {
jerk_v = Vec3f(abs(jerk_v.x()), abs(jerk_v.y()), abs(jerk_v.z()));
Vec3f max_xyz_jerk_v = get_xyz_max_jerk(static_cast<PrintEstimatedStatistics::ETimeMode>(i));
for (size_t i = 0; i < 3; i++)
{
if (jerk_v[i] > max_xyz_jerk_v[i]) {
v_factor *= max_xyz_jerk_v[i] / jerk_v[i];
jerk_v *= v_factor;
limited = true;
}
}
}
else if (a == Y || a == Z) {
continue;
} else {
}
else {
float v_exit = prev.axis_feedrate[a];
float v_entry = curr.axis_feedrate[a];
@ -3163,7 +3179,7 @@ void GCodeProcessor::process_G2_G3(const GCodeReader::GCodeLine& line)
}
//BBS: Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction.
jerk =
float jerk =
(v_exit > v_entry) ?
(((v_entry > 0.0f) || (v_exit < 0.0f)) ?
//BBS: coasting
@ -3175,12 +3191,13 @@ void GCodeProcessor::process_G2_G3(const GCodeReader::GCodeLine& line)
(v_entry - v_exit) :
//BBS: axis reversal
std::max(-v_exit, v_entry));
}
float axis_max_jerk = get_axis_max_jerk(static_cast<PrintEstimatedStatistics::ETimeMode>(i), static_cast<Axis>(a));
if (jerk > axis_max_jerk) {
v_factor *= axis_max_jerk / jerk;
limited = true;
float axis_max_jerk = get_axis_max_jerk(static_cast<PrintEstimatedStatistics::ETimeMode>(i), static_cast<Axis>(a));
if (jerk > axis_max_jerk) {
v_factor *= axis_max_jerk / jerk;
limited = true;
}
}
}
@ -3857,6 +3874,13 @@ float GCodeProcessor::get_axis_max_jerk(PrintEstimatedStatistics::ETimeMode mode
}
}
Vec3f GCodeProcessor::get_xyz_max_jerk(PrintEstimatedStatistics::ETimeMode mode) const
{
return Vec3f(get_option_value(m_time_processor.machine_limits.machine_max_jerk_x, static_cast<size_t>(mode)),
get_option_value(m_time_processor.machine_limits.machine_max_jerk_y, static_cast<size_t>(mode)),
get_option_value(m_time_processor.machine_limits.machine_max_jerk_z, static_cast<size_t>(mode)));
}
float GCodeProcessor::get_retract_acceleration(PrintEstimatedStatistics::ETimeMode mode) const
{
size_t id = static_cast<size_t>(mode);

1
src/libslic3r/GCode/GCodeProcessor.hpp
View file

@ -827,6 +827,7 @@ namespace Slic3r {
float get_axis_max_feedrate(PrintEstimatedStatistics::ETimeMode mode, Axis axis) const;
float get_axis_max_acceleration(PrintEstimatedStatistics::ETimeMode mode, Axis axis) const;
float get_axis_max_jerk(PrintEstimatedStatistics::ETimeMode mode, Axis axis) const;
Vec3f get_xyz_max_jerk(PrintEstimatedStatistics::ETimeMode mode) const;
float get_retract_acceleration(PrintEstimatedStatistics::ETimeMode mode) const;
void set_retract_acceleration(PrintEstimatedStatistics::ETimeMode mode, float value);
float get_acceleration(PrintEstimatedStatistics::ETimeMode mode) const;