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docs: Use only single space at start of new sentence 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-05-01 11:36:07 -04:00
parent e177d4f70d
commit a3162b17d9
6 changed files with 23 additions and 23 deletions
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2
docs/Features.md
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@ -5,7 +5,7 @@ Klipper has several compelling features:
movements. The application processor determines when to step each movements. The application processor determines when to step each
stepper motor, it compresses those events, transmits them to the stepper motor, it compresses those events, transmits them to the
micro-controller, and then the micro-controller executes each event 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 precision of 25 micro-seconds or better. The software does not use
kinematic estimations (such as the Bresenham algorithm) - instead it kinematic estimations (such as the Bresenham algorithm) - instead it
calculates precise step times based on the physics of acceleration calculates precise step times based on the physics of acceleration

32
docs/Kinematics.md
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@ -9,14 +9,14 @@ Acceleration
Klipper implements a constant acceleration scheme whenever the print Klipper implements a constant acceleration scheme whenever the print
head changes velocity - the velocity is gradually changed to the new head changes velocity - the velocity is gradually changed to the new
speed instead of suddenly jerking to it. Klipper always enforces speed instead of suddenly jerking to it. Klipper always enforces
acceleration between the tool head and the print. The filament acceleration between the tool head and the print. The filament leaving
leaving the extruder can be quite fragile - rapid jerks and/or the extruder can be quite fragile - rapid jerks and/or extruder flow
extruder flow changes lead to poor quality and poor bed adhesion. Even changes lead to poor quality and poor bed adhesion. Even when not
when not extruding, if the print head is at the same level as the extruding, if the print head is at the same level as the print then
print then rapid jerking of the head can cause disruption of recently rapid jerking of the head can cause disruption of recently deposited
deposited filament. Limiting speed changes of the print head (relative filament. Limiting speed changes of the print head (relative to the
to the print) reduces risks of disrupting the print. print) reduces risks of disrupting the print.
It is also important to enforce a maximum acceleration of the stepper 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 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 the print head naturally also enforces acceleration at the steppers
that control that print head (the inverse is not always true). that control that print head (the inverse is not always true).
Klipper implements constant acceleration. The key formula for Klipper implements constant acceleration. The key formula for constant
constant acceleration is: acceleration is:
``` ```
velocity(time) = start_velocity + accel*time velocity(time) = start_velocity + accel*time
``` ```
@ -101,15 +101,15 @@ Smoothed look-ahead
------------------- -------------------
Klipper also implements a mechanism for smoothing out the motions of 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) ![zigzag](img/zigzag.svg.png)
In the above, the frequent changes from acceleration to deceleration In the above, the frequent changes from acceleration to deceleration
can cause the machine to vibrate which causes stress on the machine 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" 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: are limited to smooth out the printer motion:
![smoothed](img/smoothed.svg.png) ![smoothed](img/smoothed.svg.png)
@ -133,8 +133,8 @@ Generating steps
Once the look-ahead process completes, the print head movement for the Once the look-ahead process completes, the print head movement for the
given move is fully known (time, start position, end position, given move is fully known (time, start position, end position,
velocity at each point) and it is possible to generate the step times 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 for the move. This process is done within "kinematic classes" in the
Klipper code. Outside of these kinematic classes, everything is Klipper code. Outside of these kinematic classes, everything is
tracked in millimeters, seconds, and in cartesian coordinate space. tracked in millimeters, seconds, and in cartesian coordinate space.
It's the task of the kinematic classes to convert from this generic It's the task of the kinematic classes to convert from this generic
coordinate system to the hardware specifics of the particular printer. coordinate system to the hardware specifics of the particular printer.
@ -223,7 +223,7 @@ acceleration and velocity.
Extruder kinematics 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 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 each move, it's possible to calculate the step times for the extruder
independently from the step time calculations of the print head independently from the step time calculations of the print head

2
docs/MCU_Commands.md
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@ -262,7 +262,7 @@ Stepper commands
* `stepper_get_position oid=%c` : This command causes the * `stepper_get_position oid=%c` : This command causes the
micro-controller to generate a "stepper_position" response message 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 number of steps generated with dir=1 minus the total number of steps
generated with dir=0. generated with dir=0.

2
docs/Pressure_Advance.md
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@ -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 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 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 goal is to attempt to eliminate the blobbing during cornering. (With
pressure advance, the extruder will retract when the head slows down, pressure advance, the extruder will retract when the head slows down,
thus countering the pressure buildup and ideally eliminate the thus countering the pressure buildup and ideally eliminate the

6
docs/Protocol.md
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@ -1,6 +1,6 @@
The Klipper messaging protocol is used for low-level communication The Klipper messaging protocol is used for low-level communication
between the Klipper host software and the Klipper micro-controller 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 of command and response strings that are compressed, transmitted, and
then processed at the receiving side. An example series of commands in then processed at the receiving side. An example series of commands in
uncompressed human-readable format might look like: uncompressed human-readable format might look like:
@ -112,7 +112,7 @@ to generate and format arbitrary messages for human consumption.
Declaring constants 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); DECL_CONSTANT(SERIAL_BAUD, 250000);
@ -133,7 +133,7 @@ Message Blocks
All data sent from host to micro-controller and vice-versa are All data sent from host to micro-controller and vice-versa are
contained in "message blocks". A message block has a two byte header 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><n-byte content><2 byte crc><1 byte sync> <1 byte length><1 byte sequence><n-byte content><2 byte crc><1 byte sync>

2
docs/Todo.md
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@ -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: particular order:
Host user interaction Host user interaction