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toolhead: Capture current junction_deviation in a Move class 

If a maximum acceleration is changed between two consecutive moves,
this allows to correctly compute the junction velocity between them.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2022-10-10 01:07:04 +02:00 committed by KevinOConnor
parent e4c8a24711
commit 0d9b2cc1fa
1 changed files with 4 additions and 3 deletions
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7
klippy/toolhead.py
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@ -17,6 +17,7 @@ class Move:
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 = toolhead.max_accel self.accel = toolhead.max_accel
self.junction_deviation = toolhead.junction_deviation
self.timing_callbacks = [] self.timing_callbacks = []
velocity = min(speed, toolhead.max_velocity) velocity = min(speed, toolhead.max_velocity)
self.is_kinematic_move = True self.is_kinematic_move = True
@ -73,8 +74,7 @@ class Move:
return return
junction_cos_theta = max(junction_cos_theta, -0.999999) junction_cos_theta = max(junction_cos_theta, -0.999999)
sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)) sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
R = (self.toolhead.junction_deviation * sin_theta_d2 R_jd = sin_theta_d2 / (1. - sin_theta_d2)
/ (1. - sin_theta_d2))
# Approximated circle must contact moves no further away than mid-move # 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)) 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 move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel
@ -82,7 +82,8 @@ class Move:
* prev_move.accel) * prev_move.accel)
# Apply limits # Apply limits
self.max_start_v2 = min( self.max_start_v2 = min(
R * self.accel, R * prev_move.accel, R_jd * self.junction_deviation * self.accel,
R_jd * prev_move.junction_deviation * prev_move.accel,
move_centripetal_v2, prev_move_centripetal_v2, move_centripetal_v2, prev_move_centripetal_v2,
extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2, extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2,
prev_move.max_start_v2 + prev_move.delta_v2) prev_move.max_start_v2 + prev_move.delta_v2)