diff options
Diffstat (limited to 'klippy/extras/manual_stepper.py')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 4c24ff75..6e02ee86 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -31,6 +31,7 @@ class ManualStepper: self.rail.set_trapq(self.trapq) # Registered with toolhead as an axtra axis self.axis_gcode_id = None + self.instant_corner_v = 0. # Register commands stepper_name = config.get_name().split()[1] gcode = self.printer.lookup_object('gcode') @@ -119,6 +120,8 @@ class ManualStepper: gcode_move = self.printer.lookup_object("gcode_move") toolhead = self.printer.lookup_object('toolhead') gcode_axis = gcmd.get('GCODE_AXIS').upper() + instant_corner_v = gcmd.get_float('INSTANTANEOUS_CORNER_VELOCITY', 1., + minval=0.) if self.axis_gcode_id is not None: if gcode_axis: raise gcmd.error("Must unregister axis first") @@ -137,6 +140,7 @@ class ManualStepper: if ea is not None and ea.get_axis_gcode_id() == gcode_axis: raise gcmd.error("Axis '%s' already registered" % (gcode_axis,)) self.axis_gcode_id = gcode_axis + self.instant_corner_v = instant_corner_v toolhead.add_extra_axis(self, self.get_position()[0]) toolhead.register_step_generator(self.rail.generate_steps) def process_move(self, print_time, move, ea_index): @@ -156,7 +160,9 @@ class ManualStepper: # XXX - support non-kinematic max accel/velocity pass def calc_junction(self, prev_move, move, ea_index): - # XXX - support max instantaneous velocity change + diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index] + if diff_r: + return (self.instant_corner_v / abs(diff_r))**2 return move.max_cruise_v2 def get_axis_gcode_id(self): return self.axis_gcode_id |