diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index f23f2bc3..247add5a 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -79,19 +79,19 @@ class Move: , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2) def set_junction(self, start_v2, cruise_v2, end_v2): # Determine accel, cruise, and decel portions of the move distance - inv_delta_v2 = 1. / self.delta_v2 - self.accel_r = accel_r = (cruise_v2 - start_v2) * inv_delta_v2 - self.decel_r = decel_r = (cruise_v2 - end_v2) * inv_delta_v2 - self.cruise_r = cruise_r = 1. - accel_r - decel_r + half_inv_accel = .5 / self.accel + accel_d = (cruise_v2 - start_v2) * half_inv_accel + decel_d = (cruise_v2 - end_v2) * half_inv_accel + cruise_d = self.move_d - accel_d - decel_d # Determine move velocities self.start_v = start_v = math.sqrt(start_v2) self.cruise_v = cruise_v = math.sqrt(cruise_v2) self.end_v = end_v = math.sqrt(end_v2) # Determine time spent in each portion of move (time is the # distance divided by average velocity) - self.accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5) - self.cruise_t = cruise_r * self.move_d / cruise_v - self.decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5) + self.accel_t = accel_d / ((start_v + cruise_v) * 0.5) + self.cruise_t = cruise_d / cruise_v + self.decel_t = decel_d / ((end_v + cruise_v) * 0.5) LOOKAHEAD_FLUSH_TIME = 0.250 |