diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 21 |
1 files changed, 13 insertions, 8 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index bc141c12..18a22382 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -22,17 +22,10 @@ class CartKinematics: def set_position(self, newpos): self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5) for i in StepList] - def get_max_xy_speed(self): + def get_max_speed(self): max_xy_speed = min(s.max_velocity for s in self.steppers[:2]) max_xy_accel = min(s.max_accel for s in self.steppers[:2]) return max_xy_speed, max_xy_accel - def get_max_speed(self, axes_d, move_d): - # Calculate max speed and accel for a given move - velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i]) - for i in StepList if axes_d[i]]) - accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) - for i in StepList if axes_d[i]]) - return velocity_factor * move_d, accel_factor * move_d def get_homed_position(self): return [s.get_homed_position() for s in self.steppers] def home(self, toolhead, axes): @@ -69,6 +62,18 @@ class CartKinematics: stepper.motor_enable(move_time, 0) def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) + def check_move(self, move): + if not move.axes_d[2]: + # Normal XY move - use defaults + return + # Move with Z - update velocity and accel for slower Z axis + axes_d = move.axes_d + move_d = move.move_d + velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i]) + for i in StepList if axes_d[i]]) + accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i]) + for i in StepList if axes_d[i]]) + move.limit_speed(velocity_factor * move_d, accel_factor * move_d) def move(self, move_time, move): inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v |