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| author | Kevin O'Connor <kevin@koconnor.net> | 2020-02-28 22:27:23 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2020-02-28 22:27:23 -0500 |
| commit | 1c06ea8afe385b65fda9dc140853ff8577014d16 (patch) | |
| tree | 9bdea185173b4aa845859e6a95f2cbfb0e9a4b65 | |
| parent | c197fdb03d3d54724e862cbf3b472f5434b88dc5 (diff) | |
| download | kutter-1c06ea8afe385b65fda9dc140853ff8577014d16.tar.gz kutter-1c06ea8afe385b65fda9dc140853ff8577014d16.tar.xz kutter-1c06ea8afe385b65fda9dc140853ff8577014d16.zip | |
toolhead: Minor comment addition to calc_junction()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/toolhead.py | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index c7c9f35a..ada5f8c3 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -71,10 +71,12 @@ class Move: sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)) R = (self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)) + # Approximated circle must contact moves no further away than mid-move tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta)) move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2 * prev_move.accel) + # Apply limits self.max_start_v2 = min( R * self.accel, R * prev_move.accel, move_centripetal_v2, prev_move_centripetal_v2, |