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toolhead: Do not apply main printer accel/velocity to extrude only moves 

Limit speed and acceleration of extrude only moves to just the
max_extrude_only_velocity and max_extrude_only_accel config settings.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-04 12:42:55 -05:00
parent a2f0c36e7d
commit 24fe606d4d
1 changed files with 5 additions and 3 deletions
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8
klippy/toolhead.py
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@ -17,6 +17,7 @@ class Move:
self.start_pos = tuple(start_pos)
self.end_pos = tuple(end_pos)
self.accel = toolhead.max_accel
velocity = min(speed, toolhead.max_velocity)
self.cmove = toolhead.cmove
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
@ -27,13 +28,15 @@ class Move:
end_pos[3])
axes_d[0] = axes_d[1] = axes_d[2] = 0.
self.move_d = move_d = abs(axes_d[3])
self.accel = 99999999.9
velocity = speed
self.is_kinematic_move = False
self.min_move_t = move_d / speed
self.min_move_t = move_d / velocity
# Junction speeds are tracked in velocity squared. The
# delta_v2 is the maximum amount of this squared-velocity that
# can change in this move.
self.max_start_v2 = 0.
self.max_cruise_v2 = speed**2
self.max_cruise_v2 = velocity**2
self.delta_v2 = 2.0 * move_d * self.accel
self.max_smoothed_v2 = 0.
self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
@ -344,7 +347,6 @@ class ToolHead:
self.commanded_pos[:] = newpos
self.kin.set_position(newpos, homing_axes)
def move(self, newpos, speed):
speed = min(speed, self.max_velocity)
move = Move(self, self.commanded_pos, newpos, speed)
if not move.move_d:
return