diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 38 |
1 files changed, 19 insertions, 19 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 948ea974..ed26092f 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -64,33 +64,33 @@ class Move: return # Allow extruder to calculate its maximum junction extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self) + max_start_v2 = min( + extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2, + prev_move.max_start_v2 + prev_move.delta_v2) # Find max velocity using "approximated centripetal velocity" axes_r = self.axes_r prev_axes_r = prev_move.axes_r junction_cos_theta = -(axes_r[0] * prev_axes_r[0] + axes_r[1] * prev_axes_r[1] + axes_r[2] * prev_axes_r[2]) - if junction_cos_theta > 0.999999: - return - junction_cos_theta = max(junction_cos_theta, -0.999999) - 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 - # 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 + sin_theta_d2 = math.sqrt(max(0.5*(1.0-junction_cos_theta), 0.)) + cos_theta_d2 = math.sqrt(max(0.5*(1.0+junction_cos_theta), 0.)) + one_minus_sin_theta_d2 = 1. - sin_theta_d2 + if one_minus_sin_theta_d2 > 0. and cos_theta_d2 > 0.: + R_jd = sin_theta_d2 / one_minus_sin_theta_d2 + move_jd_v2 = R_jd * self.junction_deviation * self.accel + pmove_jd_v2 = R_jd * prev_move.junction_deviation * prev_move.accel + # Approximated circle must contact moves no further than mid-move + # centripetal_v2 = .5 * self.move_d * self.accel * tan_theta_d2 + quarter_tan_theta_d2 = .25 * sin_theta_d2 / cos_theta_d2 + move_centripetal_v2 = self.delta_v2 * quarter_tan_theta_d2 + pmove_centripetal_v2 = prev_move.delta_v2 * quarter_tan_theta_d2 + max_start_v2 = min(max_start_v2, move_jd_v2, pmove_jd_v2, + move_centripetal_v2, pmove_centripetal_v2) # Apply limits - self.max_start_v2 = min( - R_jd * self.junction_deviation * self.accel, - R_jd * prev_move.junction_deviation * prev_move.accel, - move_centripetal_v2, prev_move_centripetal_v2, - extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2, - prev_move.max_start_v2 + prev_move.delta_v2) + self.max_start_v2 = max_start_v2 self.max_smoothed_v2 = min( - self.max_start_v2 - , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2) + max_start_v2, 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 half_inv_accel = .5 / self.accel |