diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 60fe9976..c3a34db7 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -109,14 +109,14 @@ class CartKinematics: steps = -steps mcu_time, so = self.steppers[i].prep_move(move_time, sdir) - step_dist = move.move_d / steps + move_step_d = move.move_d / steps step_offset = 0.5 # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel accel_time_offset = move.start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 - accel_multiplier = 2.0 * step_dist * inv_accel + accel_multiplier = 2.0 * move_step_d * inv_accel accel_steps = move.accel_r * steps step_offset = so.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset @@ -124,7 +124,7 @@ class CartKinematics: mcu_time += move.accel_t # Cruising steps #t = pos/cruise_v - cruise_multiplier = step_dist * inv_cruise_v + cruise_multiplier = move_step_d * inv_cruise_v cruise_steps = move.cruise_r * steps step_offset = so.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) |