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toolhead: Change cornering_min/max variable name to junction_corner_min/max 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-01-10 18:35:52 -05:00
parent 4a71c7a2bd
commit 8378b7345b
1 changed files with 7 additions and 7 deletions
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14
klippy/toolhead.py
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@ -71,7 +71,7 @@ class Move:
R * self.accel, self.junction_max, prev_move.junction_max R * self.accel, self.junction_max, prev_move.junction_max
, prev_move.junction_start_max + prev_move.junction_delta) , prev_move.junction_start_max + prev_move.junction_delta)
def process(self, junction_start, junction_cruise, junction_end def process(self, junction_start, junction_cruise, junction_end
, cornering_min, cornering_max): , junction_corner_min, junction_corner_max):
# Determine accel, cruise, and decel portions of the move distance # Determine accel, cruise, and decel portions of the move distance
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
@ -83,8 +83,8 @@ class Move:
cruise_v = math.sqrt(junction_cruise) cruise_v = math.sqrt(junction_cruise)
end_v = math.sqrt(junction_end) end_v = math.sqrt(junction_end)
self.start_v, self.cruise_v, self.end_v = start_v, cruise_v, end_v self.start_v, self.cruise_v, self.end_v = start_v, cruise_v, end_v
self.corner_min = math.sqrt(cornering_min) self.corner_min = math.sqrt(junction_corner_min)
self.corner_max = math.sqrt(cornering_max) self.corner_max = math.sqrt(junction_corner_max)
# Determine time spent in each portion of move (time is the # Determine time spent in each portion of move (time is the
# distance divided by average velocity) # distance divided by average velocity)
accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5) accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
@ -113,7 +113,7 @@ class MoveQueue:
# Traverse queue from last to first move and determine maximum # Traverse queue from last to first move and determine maximum
# junction speed assuming the robot comes to a complete stop # junction speed assuming the robot comes to a complete stop
# after the last move. # after the last move.
next_junction_end = cornering_min = cornering_max = 0. next_junction_end = junction_corner_min = junction_corner_max = 0.
for i in range(flush_count-1, -1, -1): for i in range(flush_count-1, -1, -1):
move = self.queue[i] move = self.queue[i]
reachable_start = next_junction_end + move.junction_delta reachable_start = next_junction_end + move.junction_delta
@ -121,11 +121,11 @@ class MoveQueue:
junction_cruise = min((junction_start + reachable_start) * .5 junction_cruise = min((junction_start + reachable_start) * .5
, move.junction_max) , move.junction_max)
move_info[i] = (junction_start, junction_cruise, next_junction_end move_info[i] = (junction_start, junction_cruise, next_junction_end
, cornering_min, cornering_max) , junction_corner_min, junction_corner_max)
if reachable_start > junction_start: if reachable_start > junction_start:
cornering_min = junction_start junction_corner_min = junction_start
if junction_start + move.junction_delta > next_junction_end: if junction_start + move.junction_delta > next_junction_end:
cornering_max = junction_cruise junction_corner_max = junction_cruise
if lazy: if lazy:
flush_count = i flush_count = i
lazy = False lazy = False