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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-01-14 16:46:21 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-01-16 15:32:35 -0500 |
| commit | 9c1bf1387c90ab7d5937bb210730acad10a4ba19 (patch) | |
| tree | 8aa02f0337a03f0b6f0af0509014eef649993f48 | |
| parent | fc6a31eac8bcb3789187b2b4df49776fb8a2a86d (diff) | |
| download | kutter-9c1bf1387c90ab7d5937bb210730acad10a4ba19.tar.gz kutter-9c1bf1387c90ab7d5937bb210730acad10a4ba19.tar.xz kutter-9c1bf1387c90ab7d5937bb210730acad10a4ba19.zip | |
toolhead: Make sure max_corner_v2 is fully calculated on a lazy flush
Make sure max_corner_v2 is fully calculated before proactively
flushing moves from the lookahead queue. Without this, some moves
would do unnecessary pressure advance during cornering.
Also, handle the min/max_corner_v2 calculations correctly in the rare
case where a move that does only acceleration is immediately followed
by a move that does only deceleration.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/toolhead.py | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 977cd7de..76f548cc 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -120,13 +120,17 @@ class MoveQueue: , move.max_cruise_v2) move_info[i] = (start_v2, cruise_v2, next_end_v2 , min_corner_v2, max_corner_v2) + # Calculate min/max_corner_v2 - the speed the head will + # slow to due to junction cornering and the maximum speed + # the head will reach immediately afterwards. if reachable_start_v2 > start_v2: min_corner_v2 = start_v2 - if start_v2 + move.delta_v2 > next_end_v2: - max_corner_v2 = cruise_v2 - if lazy: + if (start_v2 + move.delta_v2 > next_end_v2 + or next_end_v2 >= move_info[i+1][1]): + if lazy and max_corner_v2: flush_count = i lazy = False + max_corner_v2 = cruise_v2 next_end_v2 = start_v2 if lazy: flush_count = 0 |