diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 30 |
1 files changed, 19 insertions, 11 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index e3c4d5dc..94ee0891 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -198,19 +198,22 @@ class ToolHead: self.reactor = self.printer.get_reactor() self.all_mcus = self.printer.lookup_module_objects('mcu') self.mcu = self.all_mcus[0] + self.move_queue = MoveQueue() + self.commanded_pos = [0., 0., 0., 0.] + # Velocity and acceleration control self.max_velocity = config.getfloat('max_velocity', above=0.) self.max_accel = config.getfloat('max_accel', above=0.) self.requested_accel_to_decel = config.getfloat( 'max_accel_to_decel', self.max_accel * 0.5, above=0.) self.max_accel_to_decel = min(self.requested_accel_to_decel, self.max_accel) - self.junction_deviation = config.getfloat( - 'junction_deviation', 0.02, minval=0.) + self.square_corner_velocity = config.getfloat( + 'square_corner_velocity', 5., minval=0.) self.config_max_velocity = self.max_velocity self.config_max_accel = self.max_accel - self.config_junction_deviation = self.junction_deviation - self.move_queue = MoveQueue() - self.commanded_pos = [0., 0., 0., 0.] + self.config_square_corner_velocity = self.square_corner_velocity + self.junction_deviation = 0. + self._calc_junction_deviation() # Print time tracking self.buffer_time_low = config.getfloat( 'buffer_time_low', 1.000, above=0.) @@ -425,6 +428,9 @@ class ToolHead: # determined experimentally. return min(self.max_velocity, math.sqrt(8. * self.junction_deviation * self.max_accel)) + def _calc_junction_deviation(self): + scv2 = self.square_corner_velocity**2 + self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits" def cmd_SET_VELOCITY_LIMIT(self, params): print_time = self.get_last_move_time() @@ -435,27 +441,29 @@ class ToolHead: max_accel = gcode.get_float( 'ACCEL', params, self.max_accel, above=0., maxval=self.config_max_accel) - junction_deviation = gcode.get_float( - 'JUNCTION_DEVIATION', params, self.junction_deviation, - minval=0., maxval=self.config_junction_deviation) + square_corner_velocity = gcode.get_float( + 'SQUARE_CORNER_VELOCITY', params, self.square_corner_velocity, + minval=0., maxval=self.config_square_corner_velocity) self.requested_accel_to_decel = gcode.get_float( 'ACCEL_TO_DECEL', params, self.requested_accel_to_decel, above=0.) self.max_velocity = max_velocity self.max_accel = max_accel self.max_accel_to_decel = min(self.requested_accel_to_decel, max_accel) - self.junction_deviation = junction_deviation + self.square_corner_velocity = square_corner_velocity + self._calc_junction_deviation() msg = ("max_velocity: %.6f\n" "max_accel: %.6f\n" "max_accel_to_decel: %.6f\n" - "junction_deviation: %.6f"% ( + "square_corner_velocity: %.6f"% ( max_velocity, max_accel, self.requested_accel_to_decel, - junction_deviation)) + square_corner_velocity)) self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,)) gcode.respond_info(msg) def cmd_M204(self, params): gcode = self.printer.lookup_object('gcode') accel = gcode.get_float('S', params, above=0.) self.max_accel = min(accel, self.config_max_accel) + self._calc_junction_deviation() def add_printer_objects(config): config.get_printer().add_object('toolhead', ToolHead(config)) |