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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-03-30 14:32:03 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-03-30 14:35:18 -0400 |
| commit | 75b73b09d635df4aa9002d9c1d486e52a7034ca0 (patch) | |
| tree | d63628d4a4c89272540d09be17524034fdb2e20e /klippy/kinematics/corexy.py | |
| parent | 8c7f1546ab1d43ddf6d839467df16fb01c6f3269 (diff) | |
| download | kutter-75b73b09d635df4aa9002d9c1d486e52a7034ca0.tar.gz kutter-75b73b09d635df4aa9002d9c1d486e52a7034ca0.tar.xz kutter-75b73b09d635df4aa9002d9c1d486e52a7034ca0.zip | |
corexy: Fix minimum halt velocity
Due to the corexy kinematics, the individual steppers may have a
velocity of sqrt(2) times faster than the cartesian velocity _and_ can
have an acceleration of sqrt(2) times faster. Make sure to calculate
in the higher acceleration.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/kinematics/corexy.py')
| -rw-r--r-- | klippy/kinematics/corexy.py | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index e7ab2f24..98db27eb 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -28,8 +28,9 @@ class CoreXYKinematics: # Setup stepper max halt velocity max_halt_velocity = toolhead.get_max_axis_halt() max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.) - self.rails[0].set_max_jerk(max_xy_halt_velocity, max_accel) - self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel) + max_xy_accel = max_accel * math.sqrt(2.) + self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel) + self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel) self.rails[2].set_max_jerk( min(max_halt_velocity, self.max_z_velocity), self.max_z_accel) def get_steppers(self, flags=""): |