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Is there firmware out there that takes into account the dynamics of the extruder when extrusion speed is coordinated with head movement speed?
A while back i searched around, all i found was an attempted at a implementation of something like this in marlin that didn’t quite work in practise.
I know that a very good aproximate model for the extruders is.
G(s)=e^-(d*s)*K/(1+Ts)
Research article:
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Firmware - experimental, borrowed, and future