diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/toolhead.py | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index c7c9f35a..ada5f8c3 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -71,10 +71,12 @@ class Move: sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)) R = (self.toolhead.junction_deviation * 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) + # Apply limits self.max_start_v2 = min( R * self.accel, R * prev_move.accel, move_centripetal_v2, prev_move_centripetal_v2, |