diff options
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index 8e9298c5..181fd57c 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -84,24 +84,24 @@ class PrinterExtruder: steps = -steps mcu_time, so = self.stepper.prep_move(move_time, sdir) - step_dist = forward_d / steps - inv_step_dist = 1. / step_dist + move_step_d = forward_d / steps + inv_move_step_d = 1. / move_step_d step_offset = 0.5 # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel accel_time_offset = start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 - accel_multiplier = 2.0 * step_dist * inv_accel - accel_steps = accel_d * inv_step_dist + accel_multiplier = 2.0 * move_step_d * inv_accel + accel_steps = accel_d * inv_move_step_d step_offset = so.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) mcu_time += accel_t # Cruising steps #t = pos/cruise_v - cruise_multiplier = step_dist / cruise_v - cruise_steps = cruise_d * inv_step_dist + cruise_multiplier = move_step_d / cruise_v + cruise_steps = cruise_d * inv_move_step_d step_offset = so.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) mcu_time += cruise_t @@ -109,7 +109,7 @@ class PrinterExtruder: #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel) decel_time_offset = decel_v * inv_accel decel_sqrt_offset = decel_time_offset**2 - decel_steps = decel_d * inv_step_dist + decel_steps = decel_d * inv_move_step_d so.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) @@ -123,12 +123,12 @@ class PrinterExtruder: mcu_time, so = self.stepper.prep_move( move_time+accel_t+cruise_t+decel_t, 1) - step_dist = retract_d / steps + move_step_d = retract_d / steps # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel accel_time_offset = retract_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 so.step_sqrt(mcu_time - accel_time_offset, steps, 0.5 , accel_sqrt_offset, accel_multiplier) |