diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 31 |
1 files changed, 17 insertions, 14 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 1cff9ef3..0914a247 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -184,12 +184,7 @@ class ToolHead: self.printer = printer self.reactor = printer.reactor self.mcu = printer.objects['mcu'] - self.extruder = extruder.DummyExtruder() - kintypes = {'cartesian': cartesian.CartKinematics, - 'corexy': corexy.CoreXYKinematics, - 'delta': delta.DeltaKinematics} - self.kin = config.getchoice('kinematics', kintypes)(printer, config) - self.max_speed = config.getfloat('max_velocity', above=0.) + self.max_velocity = config.getfloat('max_velocity', above=0.) self.max_accel = config.getfloat('max_accel', above=0.) self.max_accel_to_decel = config.getfloat( 'max_accel_to_decel', self.max_accel * 0.5 @@ -197,7 +192,6 @@ class ToolHead: self.junction_deviation = config.getfloat( 'junction_deviation', 0.02, above=0.) self.move_queue = MoveQueue() - self.move_queue.set_extruder(self.extruder) self.commanded_pos = [0., 0., 0., 0.] # Print time tracking self.buffer_time_low = config.getfloat( @@ -221,12 +215,14 @@ class ToolHead: 'motor_off_time', 600.000, minval=0.) self.motor_off_timer = self.reactor.register_timer( self._motor_off_handler) - # Determine the maximum velocity a cartesian axis could have - # before cornering. The 8. was determined experimentally. - xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel) - self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel) - for e in extruder.get_printer_extruders(printer): - e.set_max_jerk(xy_halt, self.max_speed, self.max_accel) + # Create kinematics class + self.extruder = extruder.DummyExtruder() + self.move_queue.set_extruder(self.extruder) + kintypes = {'cartesian': cartesian.CartKinematics, + 'corexy': corexy.CoreXYKinematics, + 'delta': delta.DeltaKinematics} + self.kin = config.getchoice('kinematics', kintypes)( + self, printer, config) # Print time tracking def update_move_time(self, movetime): self.print_time += movetime @@ -332,7 +328,7 @@ class ToolHead: self.commanded_pos[:] = newpos self.kin.set_position(newpos) def move(self, newpos, speed): - speed = min(speed, self.max_speed) + speed = min(speed, self.max_velocity) move = Move(self, self.commanded_pos, newpos, speed) if not move.move_d: return @@ -396,6 +392,13 @@ class ToolHead: self.reset_print_time() except: logging.exception("Exception in force_shutdown") + def get_max_velocity(self): + return self.max_velocity, self.max_accel + def get_max_axis_halt(self, max_accel): + # Determine the maximum velocity a cartesian axis could halt + # at due to the junction_deviation setting. The 8.0 was + # determined experimentally. + return math.sqrt(8. * self.junction_deviation * max_accel) def add_printer_objects(printer, config): printer.add_object('toolhead', ToolHead(printer, config)) |