diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d6b36cc9..bf6ff76a 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -60,10 +60,15 @@ class Move: junction_cos_theta = max(junction_cos_theta, -0.999999) sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)) R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2) + 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) self.max_start_v2 = min( - R * self.accel, R * prev_move.accel, extruder_v2 - , self.max_cruise_v2, prev_move.max_cruise_v2 - , prev_move.max_start_v2 + prev_move.delta_v2) + R * self.accel, R * 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_smoothed_v2 = min( self.max_start_v2 , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2) |