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corexy: Fix minimum halt velocity 

Due to the corexy kinematics, the individual steppers may have a
velocity of sqrt(2) times faster than the cartesian velocity _and_ can
have an acceleration of sqrt(2) times faster.  Make sure to calculate
in the higher acceleration.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-03-30 14:32:03 -04:00
parent 8c7f1546ab
commit 75b73b09d6
1 changed files with 3 additions and 2 deletions
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5
klippy/kinematics/corexy.py
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@ -28,8 +28,9 @@ class CoreXYKinematics:
# Setup stepper max halt velocity # Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt() max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.) max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
self.rails[0].set_max_jerk(max_xy_halt_velocity, max_accel) max_xy_accel = max_accel * math.sqrt(2.)
self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel) self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
self.rails[2].set_max_jerk( self.rails[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel) min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def get_steppers(self, flags=""): def get_steppers(self, flags=""):