diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 14 |
1 files changed, 3 insertions, 11 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index e77b0e2d..4c76c732 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -25,8 +25,6 @@ class Move: # Find max start junction velocity using approximated # centripetal velocity as described at: # https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/ - if not prev_move.move_d: - return junction_cos_theta = -((self.axes_d[0] * prev_move.axes_d[0] + self.axes_d[1] * prev_move.axes_d[1]) / (self.move_d * prev_move.move_d)) @@ -68,15 +66,10 @@ class Move: # Class to track a list of pending move requests and to facilitate # "look-ahead" across moves to reduce acceleration between moves. class MoveQueue: - def __init__(self, dummy_move): - self.dummy_move = dummy_move + def __init__(self): self.queue = [] self.prev_junction_max = 0. self.junction_flush = 0. - def prev_move(self): - if self.queue: - return self.queue[-1] - return self.dummy_move def flush(self, lazy=False): next_junction_max = 0. can_flush = not lazy @@ -108,6 +101,7 @@ class MoveQueue: if len(self.queue) == 1: self.junction_flush = move.junction_max return + move.calc_junction(self.queue[-2]) self.junction_flush -= move.junction_delta if self.junction_flush <= 0.: self.flush(lazy=True) @@ -122,8 +116,7 @@ class ToolHead: self.kin = cartesian.CartKinematics(printer, config) self.max_xy_speed, self.max_xy_accel = self.kin.get_max_xy_speed() self.junction_deviation = config.getfloat('junction_deviation', 0.02) - dummy_move = Move(self, [0.]*4, 0., [0.]*4, 0., 0.) - self.move_queue = MoveQueue(dummy_move) + self.move_queue = MoveQueue() self.commanded_pos = [0., 0., 0., 0.] # Print time tracking self.buffer_time_high = config.getfloat('buffer_time_high', 5.000) @@ -235,7 +228,6 @@ class ToolHead: # Common xy move - create move and queue it speed = min(speed, self.max_xy_speed) move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel) - move.calc_junction(self.move_queue.prev_move()) self.move_queue.add_move(move) def home(self, axis): return self.kin.home(self, axis) |