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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-02-20 12:37:43 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-02-20 12:50:12 -0500 |
| commit | 566699f68a6423a8bfc729d308b973def3347014 (patch) | |
| tree | 3ac6198d54ee39f80b4592b968224a023127f0ef | |
| parent | 29ba92a5514de0bb6ccdad6e95c8b54f3d8a5e92 (diff) | |
| download | kutter-566699f68a6423a8bfc729d308b973def3347014.tar.gz kutter-566699f68a6423a8bfc729d308b973def3347014.tar.xz kutter-566699f68a6423a8bfc729d308b973def3347014.zip | |
toolhead: Fix error in lookahead logic
Commit c24b7a7e reworked the way lookahead was done and it introduced
a bug when a full acceleration move is immiedietly followed by a full
deceleration move. In that situation, depending on when the lookahead
queue was flushed, it was possible to call move.move() without calling
move.set_junction(). This resulted in a "Move instance has no
attribute 'accel_t'" internal error.
Simplify and fix the logic for checking full accel moves followed by
full decel moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/toolhead.py | 22 |
1 files changed, 11 insertions, 11 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 3ce846db..acc0658d 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -100,12 +100,10 @@ class MoveQueue: self.extruder_lookahead = extruder_lookahead self.queue = [] self.leftover = 0 - self.next_start_v2 = 0. self.junction_flush = LOOKAHEAD_FLUSH_TIME def reset(self): del self.queue[:] self.leftover = 0 - self.next_start_v2 = 0. self.junction_flush = LOOKAHEAD_FLUSH_TIME def set_flush_time(self, flush_time): self.junction_flush = flush_time @@ -128,8 +126,9 @@ class MoveQueue: if smoothed_v2 < reachable_smoothed_v2: # It's possible for this move to accelerate if (smoothed_v2 + move.smooth_delta_v2 > next_smoothed_v2 - or next_smoothed_v2 >= peak_cruise_v2): - # This move can both accelerate and decelerate + or delayed): + # This move can decelerate or this is a full accel + # move after a full decel move if update_flush_count and peak_cruise_v2: flush_count = i update_flush_count = False @@ -137,17 +136,18 @@ class MoveQueue: smoothed_v2 + reachable_smoothed_v2) * .5) if delayed: # Propagate peak_cruise_v2 to any delayed moves - for m, ms_v2, me_v2 in delayed: - mc_v2 = min(peak_cruise_v2, ms_v2) - m.set_junction(min(ms_v2, mc_v2), mc_v2 - , min(me_v2, mc_v2)) + if not update_flush_count and i < flush_count: + for m, ms_v2, me_v2 in delayed: + mc_v2 = min(peak_cruise_v2, ms_v2) + m.set_junction(min(ms_v2, mc_v2), mc_v2 + , min(me_v2, mc_v2)) del delayed[:] - cruise_v2 = min((start_v2 + reachable_start_v2) * .5 - , move.max_cruise_v2, peak_cruise_v2) if not update_flush_count and i < flush_count: + cruise_v2 = min((start_v2 + reachable_start_v2) * .5 + , move.max_cruise_v2, peak_cruise_v2) move.set_junction(min(start_v2, cruise_v2), cruise_v2 , min(next_end_v2, cruise_v2)) - elif not update_flush_count: + else: # Delay calculating this move until peak_cruise_v2 is known delayed.append((move, start_v2, next_end_v2)) next_end_v2 = start_v2 |