printer.cfg

# |------------------------|
# |        BACKPACK        |
# |------------------------|
# | Y  |    | Z1 |    | X1 |
# |-----    ------    -----|
# |                        |
# | ------          ------ |
# | | Z  |          | Z2 | |
# | ------          ------ |
# |-----              -----|
# | X  |              | Y1 |
# |------------------------|
#
#
#
# Motor vs. stepper configuration
#
#  BL-----BR            FL - stepper_x  (front X)  - STEPPER1 on supernova
#  |      |             BR - stepper_x1 (back X)   - STEPPER2 on supernova
#  |      |             BL - stepper_y  (Y left)   - STEPPER3 on supernova
#  FL----FR             FR - stepper_y1 (y right)  - STEPPER4 on supernova
#
#     BM                FL - stepper_z1  - E0 on spider
#    /  \               BM - stepper_z   - E1 on spider
#   /    \              FR - stepper_z2  - E2 on spider
#  FL----FR

#
# NOTES/TODO:
#  - Once we have the pillars ready, move to faster speeds
#  - Keep speed & accel low for now for not needing accel tuning

# - lowered accels, lowered SCV (17->14), PA_SMOOTH -> 20 (re-tune)
# - could this be caused by X-Y binding?
# - if the accel / smooth time / scv doesn't fix it, then need to look into that maybe
#

[include K3KlipperConfig/macros/*.cfg]

#[force_move]
#enable_force_move: True

[mcu] 
serial: /dev/serial/by-id/usb-Klipper_stm32f446xx_2C001C000450305538333620-if00
restart_method: command

# choose which board is on supernova
[include K3KlipperConfig/supernova/rp2040.i]
#[include ~/printer_data/config/K3KlipperConfig/supernova/blackpill.i]

[printer]
kinematics:              cartesian
max_velocity:            500 
max_accel:               17000
max_accel_to_decel:      17000
max_z_velocity:          10         # may be able to increase to 15 after comissioning.
max_z_accel:             70
square_corner_velocity:  15.0        # ~ max accel/1000

# Prusa slicer arc welder?
#[gcode_arcs]
#resolution: 0.1

# I think the ebox lid is vibrating...
[input_shaper]
shaper_freq_x: 77.4
shaper_type_x: mzv
shaper_freq_y: 75.8   # from 175 accel/hz, 16900 max accel, note: crampon pointing towards door to minimize moment
shaper_type_y: mzv


[stepper_z]
# connected to E0 on Spider
step_pin: PD5
dir_pin: !PD6
enable_pin: !PD4
# 5:1 Belted Z attached to a 1.8deg Motor
rotation_distance: 40
gear_ratio: 5:1
microsteps: 16
full_steps_per_rotation: 200 #change to 400 for a 0.9deg motor
endstop_pin: probe:z_virtual_endstop
position_max: 150 # TODO!!!!
position_min: -5
homing_speed: 15.0
second_homing_speed: 5.0
homing_positive_dir: false
homing_retract_dist: 0.0       # Needed for BEACON! (according to docs)

[stepper_z1]
# connected to E1 on Spider
step_pin: PE6
dir_pin: !PC13
enable_pin: !PE5
# 5:1 Belted Z attached to a 1.8deg Motor
rotation_distance: 40
gear_ratio: 5:1
microsteps: 16
full_steps_per_rotation: 200 #change to 400 for a 0.9deg motor

[stepper_z2]
# connected to E2 on Spider
step_pin: PE2
dir_pin: PE4         # why does this need to be flipped?? wtf?
enable_pin: !PE3
# 5:1 Belted Z attached to a 1.8deg Motor
rotation_distance: 40
gear_ratio: 5:1
microsteps: 16
full_steps_per_rotation: 200 #change to 400 for a 0.9deg motor

[extruder]
# connected to E3 stepper on Spider
step_pin: PD12
dir_pin: !PC4
enable_pin: !PE8
rotation_distance: 22.9057395
gear_ratio: 50:8 # sherpa micro 50:8 
microsteps: 16
full_steps_per_rotation: 200 # 1.8 deg motor

nozzle_diameter: 0.500
pressure_advance: 0.0
pressure_advance_smooth_time: 0.010
filament_diameter: 1.750	
max_extrude_only_distance: 1400.0
max_extrude_only_velocity: 120.0
max_extrude_only_accel: 1500.0
max_extrude_cross_section: 20000.0

heater_pin: PB15 # E0 OUT (HEATER0) on SPIDER
max_power: 1.0

# connected to TE0 (THERM0) on SPIDER
sensor_type: PT1000
sensor_pin: PC0
pullup_resistor: 4700

# Hotend PID settings
control: pid
pid_Kp: 17.220
pid_Ki: 0.493
pid_Kd: 150.457

min_extrude_temp: 0
min_temp: 0
max_temp: 400       # TODO: up this later, if needed 

# TMC stepper driver settings
# TMC2209 for Z
[tmc2209 stepper_z]
# on Spider E0
uart_pin: PD7
interpolate: false
run_current: 1.0 
sense_resistor: 0.110
stealthchop_threshold: 0

[tmc2209 stepper_z1]
# on Spider E1
uart_pin: PC14
interpolate: false
run_current: 1.0 
sense_resistor: 0.110
stealthchop_threshold: 0

[tmc2209 stepper_z2]
# on Spider E2
uart_pin: PC15
interpolate: false
run_current: 1.0 
sense_resistor: 0.110
stealthchop_threshold: 0

[tmc2209 extruder]
# on Spider Y stepper
uart_pin: PA15
interpolate: false
run_current: 0.3
sense_resistor: 0.110
stealthchop_threshold: 0


# Heated Bed
[heater_bed]
# connected to extruder 2 on Spider (24V),
# thermistor to TH1 on Spider
heater_pin: PB3
# NTC 100K MGB18-104F39050L32 is for Keenovo thermistors
sensor_type: NTC 100K MGB18-104F39050L32
sensor_pin: PC1
smooth_time: 3.0
control: pid
pid_Kp: 42.475 
pid_Ki: 1.395 
pid_Kd: 323.339
min_temp: 0
max_temp: 130
max_power: 0.8 # for now...

# Beacon
[beacon]
serial: /dev/serial/by-id/usb-Beacon_Beacon_RevD_7271A56D515137474C202020FF0D303D-if00
x_offset: -26.5
y_offset: 0
mesh_runs: 2
mesh_main_direction: x
cal_nozzle_z: 0.2

[safe_z_home]
home_xy_position: 90, 90  # TODO: exact center
z_hop: 3

# Mesh Bed Settings
[bed_mesh]
speed: 200    # 425
horizontal_move_z: 1
mesh_min: 25,20
mesh_max: 150,160
probe_count: 25,25
fade_start: 1.0
fade_end: 10.0
move_check_distance: 3
split_delta_z: .01   # .005
mesh_pps: 0,0
algorithm: bicubic
bicubic_tension: 0.2
;relative_reference_index: 24  # ^^^because were measuring the offset from the nozzle switch to the bed using the center of the bed, the equation to find the location = (probe point count)/2-1


# Z Tilt Bed Adjustment Settings
[z_tilt]
# these positions assume the bed and rear rail are shifted 12mm to the right from what is in the edrawing
z_positions: 
    -74.0, -18.0    # Front Left
    76.0,  217.0    # Rear
    226.0, -18.0    # Front Right
points:
    45, 25          # Front Left
    101, 160        # Rear
    175, 25         # Front Right

#z_positions: 
#    226.0, -18.0    # Front Right
#    -74.0, -18.0    # Front Left
#    76.0,  217.0    # Rear
#points:
#    171.5, 20         # Front Right
#    41.5, 20          # Front Left
#    97.5, 160        # Rear

Speed: 500
horizontal_move_z: 5.0
retries: 8
retry_tolerance: 0.005

# End Beacon


# Fans
[heater_fan hotend_fan]
pin: PB0   # FAN0 on spider
fan_speed: 1.0
kick_start_time: 0.500
heater: extruder
heater_temp: 50.0

# print cooling fan
[fan]
pin: PB2   # FAN2 on spider
kick_start_time: 0.500
max_power: 1.0
#off_below: 0.

# this is the 'always on' for the FAN1 (our 12V source, not sure if this is really needed)
[output_pin _k3rabiner_alt]
pin: PB1
pwm: False
static_value: 1

# rebreather, TODO: convert this a heated bed fan OR maybe hotend fan if possible to have two
# so this is always on when we are melting plastic .. well actually.. bed heater would be better
# for chamber heating purposes?
# NOT needed if not printing in enclosure though.. .or not very useful at least
[fan_generic rebreather]
pin: PB6
max_power: 1.0
kick_start_time: 0.5

# turned on when bed is heating or ANY driver is active
[controller_fan electronics_fan]
# connected to E1 heater on SPIDER - 24v Fan
pin: PC8
max_power: 1.0
kick_start_time: 0.500
fan_speed: 0.33
idle_timeout: 60

# Below is with chamber heater in
# THIS IS THE NON-DUAL-LOOP version START
[fan_generic ptc_fan]
pin: PB5
max_power: 1.0
kick_start_time: 3.0

# chamber thermistor, not connected to anything for now
[temperature_sensor chamber]
sensor_type: PT1000
sensor_pin: PC2
pullup_resistor: 4700

# Wowsers, the PTC has a cutoff temp of 90 degrees. Probably to keep the
# plastic parts from melting.

[heater_generic PTC_fins]
gcode_id: 6
heater_pin: PB4
max_power: 1.0
sensor_pin: PC3
sensor_type: PT1000
pullup_resistor: 4700
control: pid
pid_Kp: 20.144
pid_Ki: 0.353
pid_Kd: 287.057
min_temp: 10
max_temp: 120 # deflection temp for PCCF is 135, but we are not directly connected to it anyway, just... close
# NON-DUAL-LOOP version END

# THIS IS THE THERMOSTAT HITTING VERSION BEGIN
# we are hitting the thermostat limit and just merely have a PID on the chamber temperature itself
# the PTC heater will keep turning on/off constantly, but hey
#[heater_generic chamber]
#heater_pin: PB4
#max_power: 1.0
#sensor_pin: PC2
#sensor_type: PT1000
#pullup_resistor: 4700
#control: watermark
#min_temp: 10
#max_temp: 80

#[verify_heater chamber]
#max_error: 999999999999999

#[temperature_fan PTC_fan]
#pin: PB5
#sensor_type: PT1000
#sensor_pin: PC3
#pullup_resistor: 4700
#off_below: 1.0
#kick_start_time: 3.0
#control: watermark
#min_temp:  10.0
#max_temp:  50.0
#min_speed: 1.0
#max_speed: 1.0
#max_power: 1.0
# THIS IS THE THERMOSTAT HITTING VERSION END


# This is the DUAL LOOP version
#[temperature_sensor ptc_fins]
#sensor_type: PT1000
#sensor_pin: PC3
#pullup_resistor: 4700
 
# PTC thermistor ('secondary' in the dual loop PID), this is the thermistor
# that is reached quickly and the dual loop avoids going past max temp of this
#[heater_generic chamber]
#gcode_id: 6
#heater_pin: PB4
#max_power: 1.0
#sensor_pin: PC2
#sensor_type: PT1000
#pullup_resistor: 4700
#control: dual_loop_pid
#secondary_sensor_name: ptc_fins
#secondary_max_temp_target: 120   # PTC fin max temperature, PCCF mount
#primary_pid_kp: 42.475
#primary_pid_ki: 1.395
#primary_pid_kd: 323.339
#secondary_pid_kp: 20.1445
#secondary_pid_ki: 0.353
#secondary_pid_kd: 287.057
#min_temp: 10
#max_temp: 80

#[verify_heater chamber]
#max_error: 120
#check_gain_time: 120


# PB4 - heated bed output will control the PTC (weirdly, lol)
# PC3 - TE3 of the spider for the PTC
#
# TODO:
#   - add thermistor (red RTV) to the PTC heater
#   - dual loop pid calibrate
#

# ENERGETIC OPEN right now at about 0.160 mm or so

#*# <---------------------- SAVE_CONFIG ---------------------->
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
#*#
#*# [beacon model default]
#*# model_coef = 1.764703407662215,
#*# 	2.06675644932312,
#*# 	0.6765213835716809,
#*# 	0.3190836671159391,
#*# 	0.2195605062599356,
#*# 	-0.08315027976138681,
#*# 	-0.1961112352364847,
#*# 	0.1533022386127471,
#*# 	0.13988644594268224,
#*# 	-0.047989796014243705
#*# model_domain = 3.346073364091829e-07,3.3694249658382423e-07
#*# model_range = 0.200000,5.000000
#*# model_temp = 33.883972
#*# model_offset = 0.00000
#*#
#*# [beacon model ENERGETIC_CLOSED_CHAMBER]
#*# model_coef = 1.7229550660243629,
#*# 	  2.0427445827993806,
#*# 	  0.6870244934331142,
#*# 	  0.22908330502309915,
#*# 	  0.2527199481302116,
#*# 	  0.2921008594953047,
#*# 	  -0.1931197597372602,
#*# 	  -0.3046859607325761,
#*# 	  0.13567627404066027,
#*# 	  0.14884420583554486
#*# model_domain = 3.340001703001996e-07,3.3688458464406637e-07
#*# model_range = 0.200000,5.000000
#*# model_temp = 55.698174
#*# model_offset = 0.06000
#*#
#*# [beacon model ENERGETIC_OPEN_CHAMBER]
#*# model_coef = 1.7208794742096696,
#*# 	2.0467621094417567,
#*# 	0.6792141879917776,
#*# 	0.19874964581052265,
#*# 	0.2662445106138804,
#*# 	0.34440267648415007,
#*# 	-0.20971015508296736,
#*# 	-0.3840030772033751,
#*# 	0.1446890446062067,
#*# 	0.19843936850782176
#*# model_domain = 3.338683576409433e-07,3.367387156668301e-07
#*# model_range = 0.200000,5.000000
#*# model_temp = 37.479524
#*# model_offset = 0.00000
#*#
#*# [beacon model FABREEKO_OPEN_CHAMBER]
#*# model_coef = 1.764703407662215,
#*# 	2.06675644932312,
#*# 	0.6765213835716809,
#*# 	0.3190836671159391,
#*# 	0.2195605062599356,
#*# 	-0.08315027976138681,
#*# 	-0.1961112352364847,
#*# 	0.1533022386127471,
#*# 	0.13988644594268224,
#*# 	-0.047989796014243705
#*# model_domain = 3.346073364091829e-07,3.3694249658382423e-07
#*# model_range = 0.200000,5.000000
#*# model_temp = 33.883972
#*# model_offset = 0.00000
#*#
#*# [beacon model FABREEKO_CLOSED_CHAMBER]
#*# model_coef = 1.7639071866251415,
#*# 	2.0804872983031535,
#*# 	0.6929559580350902,
#*# 	0.16990064426106719,
#*# 	0.13389443301027779,
#*# 	0.3287207354624685,
#*# 	-0.05321753209760618,
#*# 	-0.2853666406890057,
#*# 	0.06435111962693905,
#*# 	0.11055364646734676
#*# model_domain = 3.347749510719573e-07,3.370788555142042e-07
#*# model_range = 0.200000,5.000000
#*# model_temp = 52.807250
#*# model_offset = -0.05500