diff options
| -rw-r--r-- | klippy/cartesian.py | 10 | ||||
| -rw-r--r-- | klippy/corexy.py | 8 | ||||
| -rw-r--r-- | klippy/delta.py | 4 | ||||
| -rw-r--r-- | klippy/toolhead.py | 5 |
4 files changed, 14 insertions, 13 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 1786c63f..f0d2e258 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -21,11 +21,11 @@ class CartKinematics: self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 # Setup stepper max halt velocity - max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel) - self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel) - self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel) - max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel) - self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel) + max_halt_velocity = toolhead.get_max_axis_halt() + self.steppers[0].set_max_jerk(max_halt_velocity, max_accel) + self.steppers[1].set_max_jerk(max_halt_velocity, max_accel) + self.steppers[2].set_max_jerk( + min(max_halt_velocity, self.max_z_velocity), max_accel) def set_position(self, newpos): for i in StepList: self.steppers[i].mcu_stepper.set_position(newpos[i]) diff --git a/klippy/corexy.py b/klippy/corexy.py index a730e933..286811d9 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -23,12 +23,12 @@ class CoreXYKinematics: self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 # Setup stepper max halt velocity - max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel) - max_xy_halt_velocity *= math.sqrt(2.) + max_halt_velocity = toolhead.get_max_axis_halt() + max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.) self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel) self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel) - max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel) - self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel) + self.steppers[2].set_max_jerk( + min(max_halt_velocity, self.max_z_velocity), self.max_z_accel) def set_position(self, newpos): pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2]) for i in StepList: diff --git a/klippy/delta.py b/klippy/delta.py index e3ec0123..8eddc3c9 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -32,9 +32,9 @@ class DeltaKinematics: self.max_z_velocity = config.getfloat( 'max_z_velocity', self.max_velocity, above=0., maxval=self.max_velocity) - max_xy_halt_velocity = toolhead.get_max_axis_halt(self.max_accel) + max_halt_velocity = toolhead.get_max_axis_halt() for s in self.steppers: - s.set_max_jerk(max_xy_halt_velocity, self.max_accel) + s.set_max_jerk(max_halt_velocity, self.max_accel) # Determine tower locations in cartesian space angles = [config.getsection('stepper_a').getfloat('angle', 210.), config.getsection('stepper_b').getfloat('angle', 330.), diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 6ed6099e..6df5e17f 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -381,11 +381,12 @@ class ToolHead: logging.exception("Exception in force_shutdown") def get_max_velocity(self): return self.max_velocity, self.max_accel - def get_max_axis_halt(self, max_accel): + def get_max_axis_halt(self): # Determine the maximum velocity a cartesian axis could halt # at due to the junction_deviation setting. The 8.0 was # determined experimentally. - return math.sqrt(8. * self.junction_deviation * max_accel) + return min(self.max_velocity, + math.sqrt(8. * self.junction_deviation * self.max_accel)) def add_printer_objects(printer, config): printer.add_object('toolhead', ToolHead(printer, config)) |