diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 5a05e910..7c8438fc 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -15,6 +15,7 @@ class PrinterStepper: self.inv_step_dist = 1. / self.step_dist self.max_velocity = config.getfloat('max_velocity') self.max_accel = config.getfloat('max_accel') + self.max_jerk = 0. self.homing_speed = config.getfloat('homing_speed', 5.0) self.homing_positive_dir = config.getboolean( @@ -26,6 +27,8 @@ class PrinterStepper: self.clock_ticks = None self.need_motor_enable = True + def set_max_jerk(self, max_jerk): + self.max_jerk = max_jerk def build_config(self): self.clock_ticks = self.printer.mcu.get_mcu_freq() max_error = self.config.getfloat('max_error', 0.000050) @@ -33,9 +36,10 @@ class PrinterStepper: step_pin = self.config.get('step_pin') dir_pin = self.config.get('dir_pin') - jc = 0.005 # XXX + jc = self.max_jerk / self.max_accel inv_max_step_accel = self.step_dist / self.max_accel - min_stop_interval = int((math.sqrt(inv_max_step_accel + jc**2) - jc) + min_stop_interval = int((math.sqrt(3.*inv_max_step_accel + jc**2) + - math.sqrt(inv_max_step_accel + jc**2)) * self.clock_ticks) - max_error min_stop_interval = max(0, min_stop_interval) mcu = self.printer.mcu |