From 7a81bfc4a4651c913add10e34e7431513cf8a5f5 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Sun, 3 Sep 2017 15:17:02 -0400
Subject: toolhead: Eliminate set_max_jerk() from kinematic classes

Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 klippy/toolhead.py | 31 +++++++++++++++++--------------
 1 file changed, 17 insertions(+), 14 deletions(-)

(limited to 'klippy/toolhead.py')

diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 1cff9ef3..0914a247 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -184,12 +184,7 @@ class ToolHead:
         self.printer = printer
         self.reactor = printer.reactor
         self.mcu = printer.objects['mcu']
-        self.extruder = extruder.DummyExtruder()
-        kintypes = {'cartesian': cartesian.CartKinematics,
-                    'corexy': corexy.CoreXYKinematics,
-                    'delta': delta.DeltaKinematics}
-        self.kin = config.getchoice('kinematics', kintypes)(printer, config)
-        self.max_speed = config.getfloat('max_velocity', above=0.)
+        self.max_velocity = config.getfloat('max_velocity', above=0.)
         self.max_accel = config.getfloat('max_accel', above=0.)
         self.max_accel_to_decel = config.getfloat(
             'max_accel_to_decel', self.max_accel * 0.5
@@ -197,7 +192,6 @@ class ToolHead:
         self.junction_deviation = config.getfloat(
             'junction_deviation', 0.02, above=0.)
         self.move_queue = MoveQueue()
-        self.move_queue.set_extruder(self.extruder)
         self.commanded_pos = [0., 0., 0., 0.]
         # Print time tracking
         self.buffer_time_low = config.getfloat(
@@ -221,12 +215,14 @@ class ToolHead:
             'motor_off_time', 600.000, minval=0.)
         self.motor_off_timer = self.reactor.register_timer(
             self._motor_off_handler)
-        # Determine the maximum velocity a cartesian axis could have
-        # before cornering.  The 8. was determined experimentally.
-        xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
-        self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
-        for e in extruder.get_printer_extruders(printer):
-            e.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
+        # Create kinematics class
+        self.extruder = extruder.DummyExtruder()
+        self.move_queue.set_extruder(self.extruder)
+        kintypes = {'cartesian': cartesian.CartKinematics,
+                    'corexy': corexy.CoreXYKinematics,
+                    'delta': delta.DeltaKinematics}
+        self.kin = config.getchoice('kinematics', kintypes)(
+            self, printer, config)
     # Print time tracking
     def update_move_time(self, movetime):
         self.print_time += movetime
@@ -332,7 +328,7 @@ class ToolHead:
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos)
     def move(self, newpos, speed):
-        speed = min(speed, self.max_speed)
+        speed = min(speed, self.max_velocity)
         move = Move(self, self.commanded_pos, newpos, speed)
         if not move.move_d:
             return
@@ -396,6 +392,13 @@ class ToolHead:
             self.reset_print_time()
         except:
             logging.exception("Exception in force_shutdown")
+    def get_max_velocity(self):
+        return self.max_velocity, self.max_accel
+    def get_max_axis_halt(self, max_accel):
+        # Determine the maximum velocity a cartesian axis could halt
+        # at due to the junction_deviation setting.  The 8.0 was
+        # determined experimentally.
+        return math.sqrt(8. * self.junction_deviation * max_accel)
 
 def add_printer_objects(printer, config):
     printer.add_object('toolhead', ToolHead(printer, config))
-- 
cgit v1.2.3-70-g09d2