diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 41 |
1 files changed, 38 insertions, 3 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index aa0f73f1..ff51c4c9 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -193,11 +193,15 @@ class ToolHead: self.mcu = self.all_mcus[0] self.max_velocity = config.getfloat('max_velocity', above=0.) self.max_accel = config.getfloat('max_accel', above=0.) - max_accel_to_decel = config.getfloat('max_accel_to_decel', - self.max_accel * 0.5, above=0.) - self.max_accel_to_decel = min(max_accel_to_decel, self.max_accel) + self.requested_accel_to_decel = config.getfloat( + 'max_accel_to_decel', self.max_accel * 0.5, above=0.) + self.max_accel_to_decel = min(self.requested_accel_to_decel, + self.max_accel) self.junction_deviation = config.getfloat( 'junction_deviation', 0.02, minval=0.) + self.config_max_velocity = self.max_velocity + self.config_max_accel = self.max_accel + self.config_junction_deviation = self.junction_deviation self.move_queue = MoveQueue() self.commanded_pos = [0., 0., 0., 0.] # Print time tracking @@ -230,6 +234,10 @@ class ToolHead: 'delta': delta.DeltaKinematics} self.kin = config.getchoice('kinematics', kintypes)( self, printer, config) + # SET_VELOCITY_LIMIT command + gcode = printer.lookup_object('gcode') + gcode.register_command('SET_VELOCITY_LIMIT', self.cmd_SET_VELOCITY_LIMIT, + desc=self.cmd_SET_VELOCITY_LIMIT_help) # Print time tracking def update_move_time(self, movetime): self.print_time += movetime @@ -399,6 +407,33 @@ class ToolHead: # determined experimentally. return min(self.max_velocity, math.sqrt(8. * self.junction_deviation * self.max_accel)) + cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits" + def cmd_SET_VELOCITY_LIMIT(self, params): + print_time = self.get_last_move_time() + gcode = self.printer.lookup_object('gcode') + max_velocity = gcode.get_float( + 'VELOCITY', params, self.max_velocity, + above=0., maxval=self.config_max_velocity) + max_accel = gcode.get_float( + 'ACCEL', params, self.max_accel, + above=0., maxval=self.config_max_accel) + junction_deviation = gcode.get_float( + 'JUNCTION_DEVIATION', params, self.junction_deviation, + minval=0., maxval=self.config_junction_deviation) + self.requested_accel_to_decel = gcode.get_float( + 'ACCEL_TO_DECEL', params, self.requested_accel_to_decel, above=0.) + self.max_velocity = max_velocity + self.max_accel = max_accel + self.max_accel_to_decel = min(self.requested_accel_to_decel, max_accel) + self.junction_deviation = junction_deviation + msg = ("max_velocity: %.6f\n" + "max_accel: %.6f\n" + "max_accel_to_decel: %.6f\n" + "junction_deviation: %.6f"% ( + max_velocity, max_accel, self.requested_accel_to_decel, + junction_deviation)) + self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,)) + gcode.respond_info(msg) def add_printer_objects(printer, config): printer.add_object('toolhead', ToolHead(printer, config)) |