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toolhead: Increase maximum stepper halt velocity 

Do a better job of calculating the maximum halt velocity for the
stepper motors.  The maximum cornering velocity is related to both the
maximum acceleration and the junction_deviation, so both should be in
the formula.  Tests show that "math.sqrt(8. * self.junction_deviation
* self.max_accel)" very closely fits the maximum on cartesian robots.

This fixes potential "no next step" shutdowns that could occur on
some print moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-12 14:33:06 -05:00
parent acb0b8f599
commit 0ca96e543c
1 changed files with 3 additions and 1 deletions
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4
klippy/toolhead.py
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@ -198,7 +198,9 @@ class ToolHead:
self.motor_off_time = self.reactor.NEVER self.motor_off_time = self.reactor.NEVER
self.flush_timer = self.reactor.register_timer(self._flush_handler) self.flush_timer = self.reactor.register_timer(self._flush_handler)
def build_config(self): def build_config(self):
xy_halt = 0.005 * self.max_accel # XXX # 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) self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel) self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
self.kin.build_config() self.kin.build_config()