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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-12-01 15:29:26 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-12-01 18:17:54 -0500 |
| commit | c49d3fdb17d6ba8f90099826355200d5219ab6b6 (patch) | |
| tree | ad12f524dab0e3d100adcb8c12c603a686c7b7d9 /klippy/toolhead.py | |
| parent | fcaf359e897cea792ac28fc9140316c76eb87c40 (diff) | |
| download | kutter-c49d3fdb17d6ba8f90099826355200d5219ab6b6.tar.gz kutter-c49d3fdb17d6ba8f90099826355200d5219ab6b6.tar.xz kutter-c49d3fdb17d6ba8f90099826355200d5219ab6b6.zip | |
toolhead: Specify maximum acceleration and velocity in toolhead class
Change the config file so the maximum accel and velocity are specified
in the "printer" section instead of the individual "stepper" sections.
The underlying code limits the velocity and accel of the toolhead
relative to the print object, so it makes sense to configure the
system that was as well.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index e173f279..ec215d6b 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -162,7 +162,8 @@ class ToolHead: kintypes = {'cartesian': cartesian.CartKinematics, 'delta': delta.DeltaKinematics} self.kin = config.getchoice('kinematics', kintypes)(printer, config) - self.max_speed, self.max_accel = self.kin.get_max_speed() + self.max_speed = config.getfloat('max_velocity') + self.max_accel = config.getfloat('max_accel') self.junction_deviation = config.getfloat('junction_deviation', 0.02) self.move_queue = MoveQueue() self.commanded_pos = [0., 0., 0., 0.] @@ -176,6 +177,7 @@ class ToolHead: self.motor_off_time = self.reactor.NEVER self.flush_timer = self.reactor.register_timer(self.flush_handler) def build_config(self): + self.kin.set_max_jerk(0.005 * self.max_accel, self.max_accel) # XXX self.kin.build_config() # Print time tracking def update_move_time(self, movetime): |