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| -rw-r--r-- | docs/Kinematics.md | 4 |
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diff --git a/docs/Kinematics.md b/docs/Kinematics.md index 7e61b3d2..fb7af313 100644 --- a/docs/Kinematics.md +++ b/docs/Kinematics.md @@ -87,6 +87,10 @@ small junction speed is permitted. The junction speeds are determined using "approximated centripetal acceleration". Best [described by the author](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/). +However, in Klipper, cornering velocities are configured by specifying +the desired speed that a 90° corner should have (the "square corner +velocity"), and the cornering speeds for other angles are derived from +that. Klipper implements look-ahead between moves that have similar extruder flow rates. Other moves are relatively rare and implementing |