diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 4149d53b..948ea974 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -76,10 +76,11 @@ class Move: sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)) R_jd = sin_theta_d2 / (1. - sin_theta_d2) # Approximated circle must contact moves no further away than mid-move - tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta)) - move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel - prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2 - * prev_move.accel) + # centripetal_v2 = .5 * self.move_d * self.accel * tan_theta_d2 + cos_theta_d2 = math.sqrt(0.5*(1.0+junction_cos_theta)) + quarter_tan_theta_d2 = .25 * sin_theta_d2 / cos_theta_d2 + move_centripetal_v2 = self.delta_v2 * quarter_tan_theta_d2 + prev_move_centripetal_v2 = prev_move.delta_v2 * quarter_tan_theta_d2 # Apply limits self.max_start_v2 = min( R_jd * self.junction_deviation * self.accel, |