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toolhead: Simplify calculation of junction_cruise 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-04 14:01:59 -04:00
parent 8e165fecc0
commit 6285cc6f66
1 changed files with 2 additions and 6 deletions
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8
klippy/toolhead.py
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@ -72,16 +72,12 @@ class Move:
, prev_move.junction_start_max + prev_move.junction_delta) , prev_move.junction_start_max + prev_move.junction_delta)
def process(self, junction_start, junction_end): def process(self, junction_start, junction_end):
# Determine accel, cruise, and decel portions of the move distance # Determine accel, cruise, and decel portions of the move distance
junction_cruise = self.junction_max junction_cruise = min((junction_start + junction_end
+ self.junction_delta) * .5, self.junction_max)
inv_junction_delta = 1. / self.junction_delta inv_junction_delta = 1. / self.junction_delta
accel_r = (junction_cruise-junction_start) * inv_junction_delta accel_r = (junction_cruise-junction_start) * inv_junction_delta
decel_r = (junction_cruise-junction_end) * inv_junction_delta decel_r = (junction_cruise-junction_end) * inv_junction_delta
cruise_r = 1. - accel_r - decel_r cruise_r = 1. - accel_r - decel_r
if cruise_r < 0.:
accel_r += 0.5 * cruise_r
decel_r = 1.0 - accel_r
cruise_r = 0.
junction_cruise = junction_start + accel_r*self.junction_delta
self.accel_r, self.cruise_r, self.decel_r = accel_r, cruise_r, decel_r self.accel_r, self.cruise_r, self.decel_r = accel_r, cruise_r, decel_r
# Determine move velocities # Determine move velocities
start_v = math.sqrt(junction_start) start_v = math.sqrt(junction_start)