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toolhead: Clear do_calc_junction if using non-default accel 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-01-14 12:41:49 -05:00
parent 262ccbcf30
commit 064e8bdd84
1 changed files with 8 additions and 6 deletions
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14
klippy/toolhead.py
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@ -14,11 +14,11 @@ EXTRUDE_DIFF_IGNORE = 1.02
# Class to track each move request # Class to track each move request
class Move: class Move:
def __init__(self, toolhead, start_pos, end_pos, speed, accel): def __init__(self, toolhead, start_pos, end_pos, speed):
self.toolhead = toolhead self.toolhead = toolhead
self.start_pos = tuple(start_pos) self.start_pos = tuple(start_pos)
self.end_pos = tuple(end_pos) self.end_pos = tuple(end_pos)
self.accel = accel self.accel = toolhead.max_accel
self.do_calc_junction = self.is_kinematic_move = True self.do_calc_junction = self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)] self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
if axes_d[2]: if axes_d[2]:
@ -41,12 +41,14 @@ class Move:
# is the maximum amount of this squared-velocity that can # is the maximum amount of this squared-velocity that can
# change in this move. # change in this move.
self.junction_max = speed**2 self.junction_max = speed**2
self.junction_delta = 2.0 * move_d * accel self.junction_delta = 2.0 * move_d * self.accel
self.junction_start_max = 0. self.junction_start_max = 0.
def limit_speed(self, speed, accel): def limit_speed(self, speed, accel):
self.junction_max = min(self.junction_max, speed**2) self.junction_max = min(self.junction_max, speed**2)
self.accel = min(self.accel, accel) if accel < self.accel:
self.junction_delta = 2.0 * self.move_d * self.accel self.accel = accel
self.junction_delta = 2.0 * self.move_d * self.accel
self.do_calc_junction = False
def calc_junction(self, prev_move): def calc_junction(self, prev_move):
if not self.do_calc_junction or not prev_move.do_calc_junction: if not self.do_calc_junction or not prev_move.do_calc_junction:
return return
@ -266,7 +268,7 @@ class ToolHead:
self.kin.set_position(newpos) self.kin.set_position(newpos)
def move(self, newpos, speed): def move(self, newpos, speed):
speed = min(speed, self.max_speed) speed = min(speed, self.max_speed)
move = Move(self, self.commanded_pos, newpos, speed, self.max_accel) move = Move(self, self.commanded_pos, newpos, speed)
if not move.move_d: if not move.move_d:
return return
if move.is_kinematic_move: if move.is_kinematic_move: