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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-02-12 14:33:06 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-02-12 17:20:40 -0500 |
| commit | 0ca96e543c1a00239e3c3818476c68898099a23e (patch) | |
| tree | 35efbd169c0a09e18b2bcbdc72bbf305416d739b | |
| parent | acb0b8f59967ff03e0b6eb1a98379eaaf1e27126 (diff) | |
| download | kutter-0ca96e543c1a00239e3c3818476c68898099a23e.tar.gz kutter-0ca96e543c1a00239e3c3818476c68898099a23e.tar.xz kutter-0ca96e543c1a00239e3c3818476c68898099a23e.zip | |
toolhead: Increase maximum stepper halt velocity
Do a better job of calculating the maximum halt velocity for the
stepper motors. The maximum cornering velocity is related to both the
maximum acceleration and the junction_deviation, so both should be in
the formula. Tests show that "math.sqrt(8. * self.junction_deviation
* self.max_accel)" very closely fits the maximum on cartesian robots.
This fixes potential "no next step" shutdowns that could occur on
some print moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/toolhead.py | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 75ffe52b..1ab5b839 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -198,7 +198,9 @@ class ToolHead: self.motor_off_time = self.reactor.NEVER self.flush_timer = self.reactor.register_timer(self._flush_handler) def build_config(self): - xy_halt = 0.005 * self.max_accel # XXX + # Determine the maximum velocity a cartesian axis could have + # before cornering. The 8. was determined experimentally. + xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel) self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel) self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel) self.kin.build_config() |