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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-09-03 14:10:21 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-09-03 15:46:48 -0400 |
| commit | 8d0ef49e8f2151a4003eb4391a0a769f5dd470aa (patch) | |
| tree | 46b5f96e069bece0b4544cda70f1f24aa5193033 | |
| parent | 7a81bfc4a4651c913add10e34e7431513cf8a5f5 (diff) | |
| download | kutter-8d0ef49e8f2151a4003eb4391a0a769f5dd470aa.tar.gz kutter-8d0ef49e8f2151a4003eb4391a0a769f5dd470aa.tar.xz kutter-8d0ef49e8f2151a4003eb4391a0a769f5dd470aa.zip | |
toolhead: Permit look-ahead between Z moves
Extend the look-ahead mechanism to work between moves that contain Z
movement. This improves Klipper's handling of g-code produced in
"vase mode".
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | docs/Kinematics.md | 6 | ||||
| -rw-r--r-- | klippy/toolhead.py | 15 |
2 files changed, 11 insertions, 10 deletions
diff --git a/docs/Kinematics.md b/docs/Kinematics.md index 8f12524a..eb0cb94c 100644 --- a/docs/Kinematics.md +++ b/docs/Kinematics.md @@ -88,9 +88,9 @@ The junction speeds are determined using "approximated centripetal acceleration". Best [described by the author](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/). -Klipper implements look-ahead between moves contained in the XY plane -that have similar extruder flow rates. Other moves are relatively rare -and implementing look-ahead between them is unnecessary. +Klipper implements look-ahead between moves that have similar extruder +flow rates. Other moves are relatively rare and implementing +look-ahead between them is unnecessary. Key formula for look-ahead: ``` diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 0914a247..c567213c 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -42,18 +42,18 @@ class Move: self.delta_v2 = 2.0 * self.move_d * self.accel self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2) def calc_junction(self, prev_move): - axes_d = self.axes_d - prev_axes_d = prev_move.axes_d - if (axes_d[2] or prev_axes_d[2] or self.accel != prev_move.accel - or not self.is_kinematic_move or not prev_move.is_kinematic_move): + if not self.is_kinematic_move or not prev_move.is_kinematic_move: return # Allow extruder to calculate its maximum junction extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self) # Find max velocity using approximated centripetal velocity as # described at: # https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/ + axes_d = self.axes_d + prev_axes_d = prev_move.axes_d junction_cos_theta = -((axes_d[0] * prev_axes_d[0] - + axes_d[1] * prev_axes_d[1]) + + axes_d[1] * prev_axes_d[1] + + axes_d[2] * prev_axes_d[2]) / (self.move_d * prev_move.move_d)) if junction_cos_theta > 0.999999: return @@ -61,8 +61,9 @@ 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) self.max_start_v2 = min( - R * self.accel, self.max_cruise_v2, prev_move.max_cruise_v2 - , extruder_v2, prev_move.max_start_v2 + prev_move.delta_v2) + R * self.accel, R * prev_move.accel, extruder_v2 + , self.max_cruise_v2, prev_move.max_cruise_v2 + , prev_move.max_start_v2 + prev_move.delta_v2) self.max_smoothed_v2 = min( self.max_start_v2 , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2) |