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toolhead: Simplify set_junction() code 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-06 08:23:16 -05:00
parent 076a66f791
commit 257058981e
1 changed files with 7 additions and 7 deletions
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14
klippy/toolhead.py
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@ -79,19 +79,19 @@ class Move:
, prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
def set_junction(self, start_v2, cruise_v2, end_v2):
# Determine accel, cruise, and decel portions of the move distance
inv_delta_v2 = 1. / self.delta_v2
self.accel_r = accel_r = (cruise_v2 - start_v2) * inv_delta_v2
self.decel_r = decel_r = (cruise_v2 - end_v2) * inv_delta_v2
self.cruise_r = cruise_r = 1. - accel_r - decel_r
half_inv_accel = .5 / self.accel
accel_d = (cruise_v2 - start_v2) * half_inv_accel
decel_d = (cruise_v2 - end_v2) * half_inv_accel
cruise_d = self.move_d - accel_d - decel_d
# Determine move velocities
self.start_v = start_v = math.sqrt(start_v2)
self.cruise_v = cruise_v = math.sqrt(cruise_v2)
self.end_v = end_v = math.sqrt(end_v2)
# Determine time spent in each portion of move (time is the
# distance divided by average velocity)
self.accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
self.cruise_t = cruise_r * self.move_d / cruise_v
self.decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
self.accel_t = accel_d / ((start_v + cruise_v) * 0.5)
self.cruise_t = cruise_d / cruise_v
self.decel_t = decel_d / ((end_v + cruise_v) * 0.5)
LOOKAHEAD_FLUSH_TIME = 0.250