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toolhead: Fix homing moves not apply kinematic acceleration limits 

During a "drip feed" move, both the move's maximum speed and maximum
acceleration may be limited by the kinematics.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-09-01 18:19:16 -04:00
parent 296ab7d402
commit 05edd556c3
1 changed files with 7 additions and 2 deletions
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9
klippy/toolhead.py
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@ -427,6 +427,7 @@ class ToolHead:
return return
self.kin.check_move(move) self.kin.check_move(move)
speed = math.sqrt(move.max_cruise_v2) speed = math.sqrt(move.max_cruise_v2)
move_accel = move.accel
# Transition to "Flushed" state and then to "Drip" state # Transition to "Flushed" state and then to "Drip" state
self._full_flush() self._full_flush()
self.special_queuing_state = "Drip" self.special_queuing_state = "Drip"
@ -442,9 +443,13 @@ class ToolHead:
try: try:
for i in range(num_moves-1): for i in range(num_moves-1):
next_pos = [p + d for p, d in zip(prev_pos, submove_d)] next_pos = [p + d for p, d in zip(prev_pos, submove_d)]
self.move_queue.add_move(Move(self, prev_pos, next_pos, speed)) smove = Move(self, prev_pos, next_pos, speed)
smove.limit_speed(speed, move_accel)
self.move_queue.add_move(smove)
prev_pos = next_pos prev_pos = next_pos
self.move_queue.add_move(Move(self, prev_pos, move.end_pos, speed)) smove = Move(self, prev_pos, move.end_pos, speed)
smove.limit_speed(speed, move_accel)
self.move_queue.add_move(smove)
self.move_queue.flush() self.move_queue.flush()
except DripModeEndSignal as e: except DripModeEndSignal as e:
self.move_queue.reset() self.move_queue.reset()