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Diffstat (limited to 'docs')
| -rw-r--r-- | docs/Kinematics.md | 41 | ||||
| -rw-r--r-- | docs/img/corner-blob.jpg | bin | 5772 -> 4665 bytes | |||
| -rw-r--r-- | docs/img/corner-dimple.jpg | bin | 5507 -> 4388 bytes | |||
| -rw-r--r-- | docs/img/corner-good.jpg | bin | 5461 -> 4354 bytes | |||
| -rw-r--r-- | docs/img/corner.svg | 42 | ||||
| -rw-r--r-- | docs/img/corner.svg.png | bin | 1176 -> 2157 bytes | |||
| -rw-r--r-- | docs/img/lookahead-slow.svg | 208 | ||||
| -rw-r--r-- | docs/img/lookahead-slow.svg.png | bin | 0 -> 7641 bytes | |||
| -rw-r--r-- | docs/img/lookahead.svg | 36 | ||||
| -rw-r--r-- | docs/img/lookahead.svg.png | bin | 3323 -> 4180 bytes | |||
| -rw-r--r-- | docs/img/trapezoids.svg | 25 | ||||
| -rw-r--r-- | docs/img/trapezoids.svg.png | bin | 4748 -> 4613 bytes |
12 files changed, 304 insertions, 48 deletions
diff --git a/docs/Kinematics.md b/docs/Kinematics.md index 92de88ad..401554f8 100644 --- a/docs/Kinematics.md +++ b/docs/Kinematics.md @@ -73,21 +73,24 @@ flow would result in poor print quality. To solve this, the "look-ahead" mechanism queues multiple incoming moves and analyzes the angles between moves to determine a reasonable speed that can be obtained during the "junction" between two moves. If -the next move forms an acute angle (the head is going to travel in -nearly a reverse direction on the next move) then only a small -junction speed is permitted. If the next move is nearly in the same -direction then the head need only slow down a little (if at all). +the next move is nearly in the same direction then the head need only +slow down a little (if at all).  +If the next move forms an acute angle (the head is going to travel in +nearly a reverse direction on the next move) then only a small +junction speed is permitted. + + + The junction speeds are determined using "approximated centripetal acceleration". Best -[described](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/) -by the author. +[described by the author](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/). Klipper implements look-ahead between moves contained in the XY plane -that have similar extruder flow rates. Other moves are rare and -implementing look-ahead between them is unnecessary. +that have similar extruder flow rates. Other moves are relatively rare +and implementing look-ahead between them is unnecessary. Key formula for look-ahead: ``` @@ -158,20 +161,20 @@ To generate step times on Delta printers it is necessary to correlate the movement in cartesian space with the movement on each stepper tower. +To simplify the math, for each stepper tower, the code calculates the +location of a "virtual tower" that is along the line of movement. +This virtual tower is chosen at the point where the line of movement +(extended infinitely in both directions) would be closest to the +actual tower. +  -To simplify the math, for each move contained in an XY plane, the code -calculates the location of a "virtual tower" that is along the line of -movement. This virtual tower is chosen at the point where the line of -movement (extended infinitely in both directions) would be closest to -the actual tower. +It is then possible to calculate where the head will be along the line +of movement after each step is taken on the virtual tower.  -It is then possible to calculate where the head will be along the line -of movement after each step is taken on the virtual tower. The key -formula is Pythagoras's theorem: - +The key formula is Pythagoras's theorem: ``` distance_to_tower^2 = arm_length^2 - tower_height^2 ``` @@ -196,7 +199,7 @@ must also be used in the calculations. Should the move contain only Z movement (ie, no XY movement at all) then the same math is used - just in this case the tower is parallel -to the line of movement (its slope is 1.0). +to the line of movement. ### Stepper motor acceleration limits ### @@ -248,7 +251,7 @@ pressure. Pressure increases when filament is pushed into the extruder (as in [Hooke's law](https://en.wikipedia.org/wiki/Hooke%27s_law)) and the pressure necessary to extrude is dominated by the flow rate through the nozzle orifice (as in -[Poiseuille law](https://en.wikipedia.org/wiki/Poiseuille_law)). The +[Poiseuille's law](https://en.wikipedia.org/wiki/Poiseuille_law)). The key idea is that the relationship between filament, pressure, and flow rate can be modeled using a linear coefficient: ``` diff --git a/docs/img/corner-blob.jpg b/docs/img/corner-blob.jpg Binary files differindex 6dd529a0..eaf9024c 100644 --- a/docs/img/corner-blob.jpg +++ b/docs/img/corner-blob.jpg diff --git a/docs/img/corner-dimple.jpg b/docs/img/corner-dimple.jpg Binary files differindex 14cae0c4..55402d5e 100644 --- a/docs/img/corner-dimple.jpg +++ b/docs/img/corner-dimple.jpg diff --git a/docs/img/corner-good.jpg b/docs/img/corner-good.jpg Binary files differindex 687c73aa..812c82a5 100644 --- a/docs/img/corner-good.jpg +++ b/docs/img/corner-good.jpg diff --git a/docs/img/corner.svg b/docs/img/corner.svg index 3383a969..f2e3d0ef 100644 --- a/docs/img/corner.svg +++ b/docs/img/corner.svg @@ -102,8 +102,8 @@ inkscape:pageopacity="0.0" inkscape:pageshadow="2" inkscape:zoom="2.49" - inkscape:cx="27.644" - inkscape:cy="0.62950496" + inkscape:cx="95.030833" + inkscape:cy="-0.17370789" inkscape:document-units="px" inkscape:current-layer="layer1" showgrid="true" @@ -112,11 +112,11 @@ fit-margin-right="0" fit-margin-bottom="0" showborder="false" - inkscape:window-width="1920" - inkscape:window-height="1032" - inkscape:window-x="0" - inkscape:window-y="0" - inkscape:window-maximized="1"> + inkscape:window-width="1068" + inkscape:window-height="478" + inkscape:window-x="378" + inkscape:window-y="113" + inkscape:window-maximized="0"> <inkscape:grid type="xygrid" id="grid6021" @@ -133,7 +133,7 @@ <dc:format>image/svg+xml</dc:format> <dc:type rdf:resource="http://purl.org/dc/dcmitype/StillImage" /> - <dc:title></dc:title> + <dc:title /> </cc:Work> </rdf:RDF> </metadata> @@ -154,5 +154,31 @@ id="path3514-5" inkscape:connector-curvature="0" sodipodi:nodetypes="cc" /> + <text + xml:space="preserve" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:11.25000095px;line-height:125%;font-family:'DejaVu 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