diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 47 |
1 files changed, 29 insertions, 18 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index ce014365..d386ec8e 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -217,12 +217,19 @@ class ToolHead: # 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 = self.requested_accel_to_decel + self.min_cruise_ratio = config.getfloat('minimum_cruise_ratio', None, + below=1., minval=0.) + if self.min_cruise_ratio is None: + self.min_cruise_ratio = 0.5 + req_accel_to_decel = config.getfloat('max_accel_to_decel', None, + above=0.) + if req_accel_to_decel is not None: + config.deprecate('max_accel_to_decel') + self.min_cruise_ratio = 1. - min(1., (req_accel_to_decel + / self.max_accel)) self.square_corner_velocity = config.getfloat( 'square_corner_velocity', 5., minval=0.) - self.junction_deviation = 0. + self.junction_deviation = self.max_accel_to_decel = 0. self._calc_junction_deviation() # Input stall detection self.check_stall_time = 0. @@ -561,7 +568,7 @@ class ToolHead: 'position': self.Coord(*self.commanded_pos), 'max_velocity': self.max_velocity, 'max_accel': self.max_accel, - 'max_accel_to_decel': self.requested_accel_to_decel, + 'minimum_cruise_ratio': self.min_cruise_ratio, 'square_corner_velocity': self.square_corner_velocity}) return res def _handle_shutdown(self): @@ -600,8 +607,7 @@ class ToolHead: def _calc_junction_deviation(self): scv2 = self.square_corner_velocity**2 self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel - self.max_accel_to_decel = min(self.requested_accel_to_decel, - self.max_accel) + self.max_accel_to_decel = self.max_accel * (1. - self.min_cruise_ratio) def cmd_G4(self, gcmd): # Dwell delay = gcmd.get_float('P', 0., minval=0.) / 1000. @@ -615,29 +621,34 @@ class ToolHead: max_accel = gcmd.get_float('ACCEL', None, above=0.) square_corner_velocity = gcmd.get_float( 'SQUARE_CORNER_VELOCITY', None, minval=0.) - requested_accel_to_decel = gcmd.get_float( - 'ACCEL_TO_DECEL', None, above=0.) + min_cruise_ratio = gcmd.get_float( + 'MINIMUM_CRUISE_RATIO', None, minval=0., below=1.) + if min_cruise_ratio is None: + req_accel_to_decel = gcmd.get_float('ACCEL_TO_DECEL', + None, above=0.) + if req_accel_to_decel is not None and max_accel is not None: + min_cruise_ratio = 1. - min(1., req_accel_to_decel / max_accel) + elif req_accel_to_decel is not None and max_accel is None: + min_cruise_ratio = 1. - min(1., (req_accel_to_decel + / self.max_accel)) if max_velocity is not None: self.max_velocity = max_velocity if max_accel is not None: self.max_accel = max_accel if square_corner_velocity is not None: self.square_corner_velocity = square_corner_velocity - if requested_accel_to_decel is not None: - self.requested_accel_to_decel = requested_accel_to_decel + if min_cruise_ratio is not None: + self.min_cruise_ratio = min_cruise_ratio self._calc_junction_deviation() msg = ("max_velocity: %.6f\n" "max_accel: %.6f\n" - "max_accel_to_decel: %.6f\n" + "minimum_cruise_ratio: %.6f\n" "square_corner_velocity: %.6f" % ( self.max_velocity, self.max_accel, - self.requested_accel_to_decel, - self.square_corner_velocity)) + self.min_cruise_ratio, self.square_corner_velocity)) self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,)) - if (max_velocity is None and - max_accel is None and - square_corner_velocity is None and - requested_accel_to_decel is None): + if (max_velocity is None and max_accel is None + and square_corner_velocity is None and min_cruise_ratio is None): gcmd.respond_info(msg, log=False) def cmd_M204(self, gcmd): # Use S for accel |