diff options
| -rw-r--r-- | klippy/cartesian.py | 2 | ||||
| -rw-r--r-- | klippy/extruder.py | 1 | ||||
| -rw-r--r-- | klippy/stepper.py | 8 |
3 files changed, 9 insertions, 2 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index b2bc1b43..67c68be5 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -15,6 +15,8 @@ class CartKinematics: for n in steppers] self.stepper_pos = [0, 0, 0] def build_config(self): + for stepper in self.steppers[:2]: + stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX for stepper in self.steppers: stepper.build_config() def set_position(self, newpos): diff --git a/klippy/extruder.py b/klippy/extruder.py index 67ee13ed..25655dc9 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -14,6 +14,7 @@ class PrinterExtruder: self.stepper_pos = 0 def build_config(self): self.heater.build_config() + self.stepper.set_max_jerk(9999999.9) self.stepper.build_config() def get_max_speed(self): return self.stepper.max_velocity, self.stepper.max_accel diff --git a/klippy/stepper.py b/klippy/stepper.py index 5a05e910..7c8438fc 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -15,6 +15,7 @@ class PrinterStepper: self.inv_step_dist = 1. / self.step_dist self.max_velocity = config.getfloat('max_velocity') self.max_accel = config.getfloat('max_accel') + self.max_jerk = 0. self.homing_speed = config.getfloat('homing_speed', 5.0) self.homing_positive_dir = config.getboolean( @@ -26,6 +27,8 @@ class PrinterStepper: self.clock_ticks = None self.need_motor_enable = True + def set_max_jerk(self, max_jerk): + self.max_jerk = max_jerk def build_config(self): self.clock_ticks = self.printer.mcu.get_mcu_freq() max_error = self.config.getfloat('max_error', 0.000050) @@ -33,9 +36,10 @@ class PrinterStepper: step_pin = self.config.get('step_pin') dir_pin = self.config.get('dir_pin') - jc = 0.005 # XXX + jc = self.max_jerk / self.max_accel inv_max_step_accel = self.step_dist / self.max_accel - min_stop_interval = int((math.sqrt(inv_max_step_accel + jc**2) - jc) + min_stop_interval = int((math.sqrt(3.*inv_max_step_accel + jc**2) + - math.sqrt(inv_max_step_accel + jc**2)) * self.clock_ticks) - max_error min_stop_interval = max(0, min_stop_interval) mcu = self.printer.mcu |