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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-02-27 13:11:12 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-02-27 13:11:12 -0500 |
| commit | ee1236805e677f2e1987c1a42a9125ebab953a27 (patch) | |
| tree | 4e0f4fbe544f253b3ae483642fc1d4e9db55ad45 /klippy | |
| parent | b934313c3da7bd57d2f6bb665dc5a9039ccfb076 (diff) | |
| download | kutter-ee1236805e677f2e1987c1a42a9125ebab953a27.tar.gz kutter-ee1236805e677f2e1987c1a42a9125ebab953a27.tar.xz kutter-ee1236805e677f2e1987c1a42a9125ebab953a27.zip | |
toolhead: Wrap code to 80 columns
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/toolhead.py | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 9629dc8f..edf6d326 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -53,9 +53,7 @@ class Move: return # Allow extruder to calculate its maximum junction extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self) - # Find max velocity using approximated centripetal velocity as - # described at: - # https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/ + # 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] @@ -66,7 +64,8 @@ class Move: return junction_cos_theta = max(junction_cos_theta, -0.999999) sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)) - R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2) + R = (self.toolhead.junction_deviation * sin_theta_d2 + / (1. - sin_theta_d2)) tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta)) move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2 @@ -263,7 +262,8 @@ class ToolHead: raise config.error(msg) # SET_VELOCITY_LIMIT command gcode = self.printer.lookup_object('gcode') - gcode.register_command('SET_VELOCITY_LIMIT', self.cmd_SET_VELOCITY_LIMIT, + gcode.register_command('SET_VELOCITY_LIMIT', + self.cmd_SET_VELOCITY_LIMIT, desc=self.cmd_SET_VELOCITY_LIMIT_help) gcode.register_command('M204', self.cmd_M204) # Print time tracking |