diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index f770afdb..71a5c8c6 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -15,9 +15,7 @@ class PrinterStepper: self.step_dist = config.getfloat('step_distance') 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.min_stop_interval = 0. self.homing_speed = config.getfloat('homing_speed', 5.0) self.homing_positive_dir = config.getboolean( @@ -47,17 +45,16 @@ class PrinterStepper: self.position_max = config.getfloat('position_max', 0.) self.need_motor_enable = True - def set_max_jerk(self, max_jerk): - self.max_jerk = max_jerk + def set_max_jerk(self, max_halt_velocity, max_accel): + jc = max_halt_velocity / max_accel + inv_max_step_accel = self.step_dist / max_accel + self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2) + - math.sqrt(inv_max_step_accel + jc**2)) def build_config(self): max_error = self.config.getfloat('max_error', 0.000050) step_pin = self.config.get('step_pin') dir_pin = self.config.get('dir_pin') - jc = self.max_jerk / self.max_accel - inv_max_step_accel = self.step_dist / self.max_accel - min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2) - - math.sqrt(inv_max_step_accel + jc**2)) - max_error - min_stop_interval = max(0., min_stop_interval) + min_stop_interval = max(0., self.min_stop_interval - max_error) mcu = self.printer.mcu self.mcu_stepper = mcu.create_stepper( step_pin, dir_pin, min_stop_interval, max_error) |