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| author | Dmitry Butyugin <dmbutyugin@google.com> | 2024-12-06 11:54:26 +0900 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2024-12-05 21:54:26 -0500 |
| commit | 16b4b6b302ac3ffcd55006cd76265aad4e26ecc8 (patch) | |
| tree | 15e598c259b1b30ee5fe1fefa97ae32f8bc1899c /klippy/toolhead.py | |
| parent | 7f89668d6c069deaa02d6479e073d11a2389a948 (diff) | |
| download | kutter-16b4b6b302ac3ffcd55006cd76265aad4e26ecc8.tar.gz kutter-16b4b6b302ac3ffcd55006cd76265aad4e26ecc8.tar.xz kutter-16b4b6b302ac3ffcd55006cd76265aad4e26ecc8.zip | |
resonance_tester: Added a new sweeping_vibrations resonance test method (#6723)
This adds a new resonance test method that can help if a user has some mechanical problems with the printer.
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index ed26092f..256915da 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -47,6 +47,7 @@ class Move: self.delta_v2 = 2.0 * move_d * self.accel self.max_smoothed_v2 = 0. self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel + self.next_junction_v2 = 999999999.9 def limit_speed(self, speed, accel): speed2 = speed**2 if speed2 < self.max_cruise_v2: @@ -55,6 +56,8 @@ class Move: self.accel = min(self.accel, accel) self.delta_v2 = 2.0 * self.move_d * self.accel self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2) + def limit_next_junction_speed(self, speed): + self.next_junction_v2 = min(self.next_junction_v2, speed**2) def move_error(self, msg="Move out of range"): ep = self.end_pos m = "%s: %.3f %.3f %.3f [%.3f]" % (msg, ep[0], ep[1], ep[2], ep[3]) @@ -64,9 +67,9 @@ class Move: return # Allow extruder to calculate its maximum junction extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self) - max_start_v2 = min( - extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2, - prev_move.max_start_v2 + prev_move.delta_v2) + max_start_v2 = min(extruder_v2, self.max_cruise_v2, + prev_move.max_cruise_v2, prev_move.next_junction_v2, + prev_move.max_start_v2 + prev_move.delta_v2) # Find max velocity using "approximated centripetal velocity" axes_r = self.axes_r prev_axes_r = prev_move.axes_r @@ -462,6 +465,10 @@ class ToolHead: self.commanded_pos[:] = newpos self.kin.set_position(newpos, homing_axes) self.printer.send_event("toolhead:set_position") + def limit_next_junction_speed(self, speed): + last_move = self.lookahead.get_last() + if last_move is not None: + last_move.limit_next_junction_speed(speed) def move(self, newpos, speed): move = Move(self, self.commanded_pos, newpos, speed) if not move.move_d: |