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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-11-04 14:01:59 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-05 10:59:36 -0400 |
| commit | 6285cc6f66e2897a14059abaed14a3bbfa9e322e (patch) | |
| tree | c1274e972be38584dd5810ae8bc6a3c95b3a7581 /klippy/toolhead.py | |
| parent | 8e165fecc0e80d19d0bf4b3dfdde91d061de4c0d (diff) | |
| download | kutter-6285cc6f66e2897a14059abaed14a3bbfa9e322e.tar.gz kutter-6285cc6f66e2897a14059abaed14a3bbfa9e322e.tar.xz kutter-6285cc6f66e2897a14059abaed14a3bbfa9e322e.zip | |
toolhead: Simplify calculation of junction_cruise
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 8 |
1 files changed, 2 insertions, 6 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 983e62bf..2bfc5db8 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -72,16 +72,12 @@ class Move: , prev_move.junction_start_max + prev_move.junction_delta) def process(self, junction_start, junction_end): # Determine accel, cruise, and decel portions of the move distance - junction_cruise = self.junction_max + junction_cruise = min((junction_start + junction_end + + self.junction_delta) * .5, self.junction_max) inv_junction_delta = 1. / self.junction_delta accel_r = (junction_cruise-junction_start) * inv_junction_delta decel_r = (junction_cruise-junction_end) * inv_junction_delta cruise_r = 1. - accel_r - decel_r - if cruise_r < 0.: - accel_r += 0.5 * cruise_r - decel_r = 1.0 - accel_r - cruise_r = 0. - junction_cruise = junction_start + accel_r*self.junction_delta self.accel_r, self.cruise_r, self.decel_r = accel_r, cruise_r, decel_r # Determine move velocities start_v = math.sqrt(junction_start) |