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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 08:41:50 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 15:51:51 -0500 |
| commit | 86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7 (patch) | |
| tree | 0bd56060e88f145b419b48b4aeeaf8ca5e6c1151 /klippy/toolhead.py | |
| parent | 257058981eff9b0944029c101de5f18af2fbf914 (diff) | |
| download | kutter-86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7.tar.gz kutter-86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7.tar.xz kutter-86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7.zip | |
toolhead: Calculate and store axes_r in move class
Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r. This avoids
needing to recalculate the value in other code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 247add5a..8fdcf1e9 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -27,9 +27,15 @@ class Move: end_pos[3]) axes_d[0] = axes_d[1] = axes_d[2] = 0. self.move_d = move_d = abs(axes_d[3]) + inv_move_d = 0. + if move_d: + inv_move_d = 1. / move_d self.accel = 99999999.9 velocity = speed self.is_kinematic_move = False + else: + inv_move_d = 1. / move_d + self.axes_r = [d * inv_move_d for d in axes_d] self.min_move_t = move_d / velocity # Junction speeds are tracked in velocity squared. The # delta_v2 is the maximum amount of this squared-velocity that @@ -53,12 +59,11 @@ class Move: # Allow extruder to calculate its maximum junction extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self) # Find max velocity using "approximated centripetal velocity" - 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[2] * prev_axes_d[2]) - / (self.move_d * prev_move.move_d)) + axes_r = self.axes_r + prev_axes_r = prev_move.axes_r + junction_cos_theta = -(axes_r[0] * prev_axes_r[0] + + axes_r[1] * prev_axes_r[1] + + axes_r[2] * prev_axes_r[2]) if junction_cos_theta > 0.999999: return junction_cos_theta = max(junction_cos_theta, -0.999999) @@ -302,7 +307,7 @@ class ToolHead: self.trapq, next_move_time, move.accel_t, move.cruise_t, move.decel_t, move.start_pos[0], move.start_pos[1], move.start_pos[2], - move.axes_d[0], move.axes_d[1], move.axes_d[2], + move.axes_r[0], move.axes_r[1], move.axes_r[2], move.start_v, move.cruise_v, move.accel) if move.axes_d[3]: self.extruder.move(next_move_time, move) |