diff options
Diffstat (limited to 'klippy/extras/force_move.py')
| -rw-r--r-- | klippy/extras/force_move.py | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index fe3b3a60..2f748c0a 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -11,16 +11,19 @@ STALL_TIME = 0.100 # Calculate a move's accel_t, cruise_t, and cruise_v def calc_move_time(dist, speed, accel): - dist = abs(dist) + axis_r = 1. + if dist < 0.: + axis_r = -1. + dist = -dist if not accel or not dist: - return 0., dist / speed, speed + return axis_r, 0., dist / speed, speed max_cruise_v2 = dist * accel if max_cruise_v2 < speed**2: speed = math.sqrt(max_cruise_v2) accel_t = speed / accel accel_decel_d = accel_t * speed cruise_t = (dist - accel_decel_d) / speed - return accel_t, cruise_t, speed + return axis_r, accel_t, cruise_t, speed class ForceMove: def __init__(self, config): @@ -67,9 +70,9 @@ class ForceMove: print_time = toolhead.get_last_move_time() prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics) stepper.set_position((0., 0., 0.)) - accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel) + axis_r, accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel) self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t, - 0., 0., 0., dist, 0., 0., 0., cruise_v, accel) + 0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel) print_time += accel_t + cruise_t + accel_t stepper.generate_steps(print_time) self.trapq_free_moves(self.trapq, print_time) |