diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 22 |
1 files changed, 9 insertions, 13 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 09a2a094..50946f03 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -13,21 +13,21 @@ class CartKinematics: self.steppers = [stepper.PrinterStepper( printer, config.getsection('stepper_' + n), n) for n in ['x', 'y', 'z']] + self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9) + self.max_z_accel = config.getfloat('max_z_accel', 9999999.9) self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 + def set_max_jerk(self, max_xy_halt_velocity, 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) + self.steppers[2].set_max_jerk(0., self.max_z_accel) def build_config(self): - for stepper in self.steppers[:2]: - stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX for stepper in self.steppers: stepper.build_config() def set_position(self, newpos): for i in StepList: s = self.steppers[i] s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5)) - 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_homed_position(self, homing_state): pos = [None]*3 for axis in homing_state.get_axes(): @@ -99,13 +99,9 @@ class CartKinematics: return # Move with Z - update velocity and accel for slower Z axis self.check_endstops(move) - 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) + z_ratio = move.move_d / abs(move.axes_d[2]) + move.limit_speed( + self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) def move(self, move_time, move): if self.need_motor_enable: self.check_motor_enable(move_time, move) |