diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 61faaee0..5a05e910 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -13,10 +13,8 @@ class PrinterStepper: self.step_dist = config.getfloat('step_distance') self.inv_step_dist = 1. / self.step_dist - max_velocity = config.getfloat('max_velocity') - self.max_step_velocity = max_velocity * self.inv_step_dist - max_accel = config.getfloat('max_accel') - self.max_step_accel = max_accel * self.inv_step_dist + self.max_velocity = config.getfloat('max_velocity') + self.max_accel = config.getfloat('max_accel') self.homing_speed = config.getfloat('homing_speed', 5.0) self.homing_positive_dir = config.getboolean( @@ -36,7 +34,8 @@ class PrinterStepper: step_pin = self.config.get('step_pin') dir_pin = self.config.get('dir_pin') jc = 0.005 # XXX - min_stop_interval = int((math.sqrt(1./self.max_step_accel + jc**2) - jc) + inv_max_step_accel = self.step_dist / self.max_accel + min_stop_interval = int((math.sqrt(inv_max_step_accel + jc**2) - jc) * self.clock_ticks) - max_error min_stop_interval = max(0, min_stop_interval) mcu = self.printer.mcu |