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delta: Simplify maximum stepper velocity and accel checks 

Simplify the mechanism for limiting stepper speed (introduced in
commit bdfdf7ef) - split the extreme end of the build envelope into
two zones and use the same speeds for all moves that traverse any part
of one of those zones.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-21 11:18:56 -05:00
parent 47f1d377f5
commit 4bc114336c
1 changed files with 18 additions and 15 deletions
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29
klippy/delta.py
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@ -18,11 +18,10 @@ class DeltaKinematics:
printer, config.getsection('stepper_' + n), n) printer, config.getsection('stepper_' + n), n)
for n in ['a', 'b', 'c']] for n in ['a', 'b', 'c']]
self.need_motor_enable = self.need_home = True self.need_motor_enable = self.need_home = True
self.max_velocity = self.max_z_velocity = 0. self.max_velocity = self.max_z_velocity = self.max_accel = 0.
self.radius = radius = config.getfloat('delta_radius') radius = config.getfloat('delta_radius')
arm_length = config.getfloat('delta_arm_length') arm_length = config.getfloat('delta_arm_length')
self.arm_length2 = arm_length**2 self.arm_length2 = arm_length**2
self.max_xy2 = min(radius, arm_length - radius)**2
self.limit_xy2 = -1. self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2) tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = max([s.position_endstop for s in self.steppers]) self.max_z = max([s.position_endstop for s in self.steppers])
@ -39,17 +38,23 @@ class DeltaKinematics:
# Find the point where an XY move could result in excessive # Find the point where an XY move could result in excessive
# tower movement # tower movement
half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5 half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
dist = (SLOW_RATIO * math.sqrt(self.arm_length2 / (SLOW_RATIO**2 + 1.) def ratio_to_dist(ratio):
return (ratio * math.sqrt(self.arm_length2 / (ratio**2 + 1.)
- half_min_step_dist**2) - half_min_step_dist**2)
+ half_min_step_dist) + half_min_step_dist)
self.slow_xy2 = (dist - radius)**2 self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
self.max_xy2 = min(radius, arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
logging.info( logging.info(
"Delta max build radius %.2fmm (moves slowed past %.2fmm)" % ( "Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2))) % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel): def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
self.max_velocity = max_velocity self.max_velocity = max_velocity
max_z_velocity = self.config.getfloat('max_z_velocity', max_velocity) max_z_velocity = self.config.getfloat('max_z_velocity', max_velocity)
self.max_z_velocity = min(max_velocity, max_z_velocity) self.max_z_velocity = min(max_velocity, max_z_velocity)
self.max_accel = max_accel
for stepper in self.steppers: for stepper in self.steppers:
stepper.set_max_jerk(max_xy_halt_velocity, max_accel) stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
def build_config(self): def build_config(self):
@ -152,15 +157,13 @@ class DeltaKinematics:
# end of the build envelope # end of the build envelope
extreme_xy2 = max(xy2, move.start_pos[0]**2 + move.start_pos[1]**2) extreme_xy2 = max(xy2, move.start_pos[0]**2 + move.start_pos[1]**2)
if extreme_xy2 > self.slow_xy2: if extreme_xy2 > self.slow_xy2:
min_step = min([s.step_dist for s in self.steppers]) r = 0.5
d = math.sqrt(extreme_xy2) + self.radius if extreme_xy2 > self.very_slow_xy2:
r = SLOW_RATIO * min_step / ( r = 0.25
math.sqrt(self.arm_length2 - (d - min_step)**2)
- math.sqrt(self.arm_length2 - d**2))
max_velocity = self.max_velocity max_velocity = self.max_velocity
if move.axes_d[2]: if move.axes_d[2]:
max_velocity = self.max_z_velocity max_velocity = self.max_z_velocity
move.limit_speed(max_velocity * r, move.accel * r) move.limit_speed(max_velocity * r, self.max_accel * r)
limit_xy2 = -1. limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2) self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def move(self, move_time, move): def move(self, move_time, move):