From a3162b17d9286fdd363f97d2eecb744ca02607f1 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Mon, 1 May 2017 11:36:07 -0400 Subject: [PATCH] docs: Use only single space at start of new sentence Signed-off-by: Kevin O'Connor --- docs/Features.md | 2 +- docs/Kinematics.md | 32 ++++++++++++++++---------------- docs/MCU_Commands.md | 2 +- docs/Pressure_Advance.md | 2 +- docs/Protocol.md | 6 +++--- docs/Todo.md | 2 +- 6 files changed, 23 insertions(+), 23 deletions(-) diff --git a/docs/Features.md b/docs/Features.md index 6a13d124..74741bcb 100644 --- a/docs/Features.md +++ b/docs/Features.md @@ -5,7 +5,7 @@ Klipper has several compelling features: movements. The application processor determines when to step each stepper motor, it compresses those events, transmits them to the micro-controller, and then the micro-controller executes each event - at the requested time. Each stepper event is scheduled with a + at the requested time. Each stepper event is scheduled with a precision of 25 micro-seconds or better. The software does not use kinematic estimations (such as the Bresenham algorithm) - instead it calculates precise step times based on the physics of acceleration diff --git a/docs/Kinematics.md b/docs/Kinematics.md index 4787ebf8..19a1095b 100644 --- a/docs/Kinematics.md +++ b/docs/Kinematics.md @@ -9,14 +9,14 @@ Acceleration Klipper implements a constant acceleration scheme whenever the print head changes velocity - the velocity is gradually changed to the new -speed instead of suddenly jerking to it. Klipper always enforces -acceleration between the tool head and the print. The filament -leaving the extruder can be quite fragile - rapid jerks and/or -extruder flow changes lead to poor quality and poor bed adhesion. Even -when not extruding, if the print head is at the same level as the -print then rapid jerking of the head can cause disruption of recently -deposited filament. Limiting speed changes of the print head (relative -to the print) reduces risks of disrupting the print. +speed instead of suddenly jerking to it. Klipper always enforces +acceleration between the tool head and the print. The filament leaving +the extruder can be quite fragile - rapid jerks and/or extruder flow +changes lead to poor quality and poor bed adhesion. Even when not +extruding, if the print head is at the same level as the print then +rapid jerking of the head can cause disruption of recently deposited +filament. Limiting speed changes of the print head (relative to the +print) reduces risks of disrupting the print. It is also important to enforce a maximum acceleration of the stepper motors to ensure they do not skip or put excessive stress on the @@ -25,8 +25,8 @@ limiting the acceleration of the print head. Enforcing acceleration at the print head naturally also enforces acceleration at the steppers that control that print head (the inverse is not always true). -Klipper implements constant acceleration. The key formula for -constant acceleration is: +Klipper implements constant acceleration. The key formula for constant +acceleration is: ``` velocity(time) = start_velocity + accel*time ``` @@ -101,15 +101,15 @@ Smoothed look-ahead ------------------- Klipper also implements a mechanism for smoothing out the motions of -short "zigzag" moves. Consider the following moves: +short "zigzag" moves. Consider the following moves: ![zigzag](img/zigzag.svg.png) In the above, the frequent changes from acceleration to deceleration can cause the machine to vibrate which causes stress on the machine -and increases the noise. To reduce this, Klipper tracks both regular +and increases the noise. To reduce this, Klipper tracks both regular move acceleration as well as a virtual "acceleration to deceleration" -rate. Using this system, the top speed of these short "zigzag" moves +rate. Using this system, the top speed of these short "zigzag" moves are limited to smooth out the printer motion: ![smoothed](img/smoothed.svg.png) @@ -133,8 +133,8 @@ Generating steps Once the look-ahead process completes, the print head movement for the given move is fully known (time, start position, end position, velocity at each point) and it is possible to generate the step times -for the move. This process is done within "kinematic classes" in the -Klipper code. Outside of these kinematic classes, everything is +for the move. This process is done within "kinematic classes" in the +Klipper code. Outside of these kinematic classes, everything is tracked in millimeters, seconds, and in cartesian coordinate space. It's the task of the kinematic classes to convert from this generic coordinate system to the hardware specifics of the particular printer. @@ -223,7 +223,7 @@ acceleration and velocity. Extruder kinematics ------------------- -Klipper implements extruder motion in its own kinematic class. Since +Klipper implements extruder motion in its own kinematic class. Since the timing and speed of each print head movement is fully known for each move, it's possible to calculate the step times for the extruder independently from the step time calculations of the print head diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index c1544d2a..5cd47193 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -262,7 +262,7 @@ Stepper commands * `stepper_get_position oid=%c` : This command causes the micro-controller to generate a "stepper_position" response message - with the stepper's current position. The position is the total + with the stepper's current position. The position is the total number of steps generated with dir=1 minus the total number of steps generated with dir=0. diff --git a/docs/Pressure_Advance.md b/docs/Pressure_Advance.md index e0d4ef28..be6bcac9 100644 --- a/docs/Pressure_Advance.md +++ b/docs/Pressure_Advance.md @@ -31,7 +31,7 @@ as a blob when the head slows down to corner. The next step is to set pressure_advance_lookahead_time to 0.0, slowly increase pressure_advance (eg, start with 0.05), and reprint the test -object. (Be sure to issue RESTART between each config change.) The +object. (Be sure to issue RESTART between each config change.) The goal is to attempt to eliminate the blobbing during cornering. (With pressure advance, the extruder will retract when the head slows down, thus countering the pressure buildup and ideally eliminate the diff --git a/docs/Protocol.md b/docs/Protocol.md index fab5b5a5..57d274b3 100644 --- a/docs/Protocol.md +++ b/docs/Protocol.md @@ -1,6 +1,6 @@ The Klipper messaging protocol is used for low-level communication between the Klipper host software and the Klipper micro-controller -software. At a high level the protocol can be thought of as a series +software. At a high level the protocol can be thought of as a series of command and response strings that are compressed, transmitted, and then processed at the receiving side. An example series of commands in uncompressed human-readable format might look like: @@ -112,7 +112,7 @@ to generate and format arbitrary messages for human consumption. Declaring constants ------------------- -Constants can also be exported. For example, the following: +Constants can also be exported. For example, the following: ``` DECL_CONSTANT(SERIAL_BAUD, 250000); @@ -133,7 +133,7 @@ Message Blocks All data sent from host to micro-controller and vice-versa are contained in "message blocks". A message block has a two byte header -and a three byte trailer. The format of a message block is: +and a three byte trailer. The format of a message block is: ``` <1 byte length><1 byte sequence><2 byte crc><1 byte sync> diff --git a/docs/Todo.md b/docs/Todo.md index 69878ee8..7e938c9f 100644 --- a/docs/Todo.md +++ b/docs/Todo.md @@ -1,4 +1,4 @@ -There are several features still to be implemented in Klipper. In no +There are several features still to be implemented in Klipper. In no particular order: Host user interaction