diff options
| -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 24f2f5d8..4da46238 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -24,6 +24,7 @@ class Move: # Extrude only move self.move_d = move_d = abs(axes_d[3]) self.is_kinematic_move = False + self.min_move_t = move_d / speed # Junction speeds are tracked in velocity squared. The # delta_v2 is the maximum amount of this squared-velocity that # can change in this move. @@ -33,7 +34,10 @@ class Move: self.max_smoothed_v2 = 0. self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel def limit_speed(self, speed, accel): - self.max_cruise_v2 = min(self.max_cruise_v2, speed**2) + speed2 = speed**2 + if speed2 < self.max_cruise_v2: + self.max_cruise_v2 = speed2 + self.min_move_t = self.move_d / speed self.accel = min(self.accel, accel) self.delta_v2 = 2.0 * self.move_d * self.accel self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2) @@ -87,6 +91,8 @@ class Move: self.toolhead.update_move_time( self.accel_t + self.cruise_t + self.decel_t) +LOOKAHEAD_FLUSH_TIME = 0.250 + # Class to track a list of pending move requests and to facilitate # "look-ahead" across moves to reduce acceleration between moves. class MoveQueue: @@ -95,12 +101,14 @@ class MoveQueue: self.queue = [] self.leftover = 0 self.next_start_v2 = 0. - self.junction_flush = 0. + self.junction_flush = LOOKAHEAD_FLUSH_TIME def reset(self): del self.queue[:] self.leftover = 0 self.next_start_v2 = 0. + self.junction_flush = LOOKAHEAD_FLUSH_TIME def flush(self, lazy=False): + self.junction_flush = LOOKAHEAD_FLUSH_TIME update_flush_count = lazy queue = self.queue flush_count = len(queue) @@ -143,7 +151,7 @@ class MoveQueue: next_end_v2 = start_v2 next_smoothed_v2 = smoothed_v2 if update_flush_count: - flush_count = 0 + return # Allow extruder to do its lookahead move_count = self.extruder_lookahead(queue, flush_count, lazy) # Generate step times for all moves ready to be flushed @@ -152,15 +160,12 @@ class MoveQueue: # Remove processed moves from the queue self.leftover = flush_count - move_count del queue[:move_count] - if queue: - self.junction_flush = 2. * queue[-1].max_cruise_v2 def add_move(self, move): self.queue.append(move) if len(self.queue) == 1: - self.junction_flush = 2. * move.max_cruise_v2 return move.calc_junction(self.queue[-2]) - self.junction_flush -= move.smooth_delta_v2 + self.junction_flush -= move.min_move_t if self.junction_flush <= 0.: # There are enough queued moves to return to zero velocity # from the first move's maximum possible velocity, so at |