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cartesian: Fix min_stop_interval calculation error 

It is possible to have an acceleration greater than max_z_accel on
XY+Z moves.  That needs to be taken into account when calculating the
min_stop_interval.  This prevents spurious "No next step" MCU errors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-10-12 00:48:01 -04:00
parent d3eb148cfa
commit cc7c99a4a4
4 changed files with 14 additions and 13 deletions
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10
klippy/cartesian.py
View File

@ -21,11 +21,11 @@ class CartKinematics:
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
max_halt_velocity = toolhead.get_max_axis_halt()
self.steppers[0].set_max_jerk(max_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), max_accel)
def set_position(self, newpos):
for i in StepList:
self.steppers[i].mcu_stepper.set_position(newpos[i])

8
klippy/corexy.py
View File

@ -23,12 +23,12 @@ class CoreXYKinematics:
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
max_xy_halt_velocity *= math.sqrt(2.)
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:

4
klippy/delta.py
View File

@ -32,9 +32,9 @@ class DeltaKinematics:
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_xy_halt_velocity = toolhead.get_max_axis_halt(self.max_accel)
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_xy_halt_velocity, self.max_accel)
s.set_max_jerk(max_halt_velocity, self.max_accel)
# Determine tower locations in cartesian space
angles = [config.getsection('stepper_a').getfloat('angle', 210.),
config.getsection('stepper_b').getfloat('angle', 330.),

5
klippy/toolhead.py
View File

@ -381,11 +381,12 @@ class ToolHead:
logging.exception("Exception in force_shutdown")
def get_max_velocity(self):
return self.max_velocity, self.max_accel
def get_max_axis_halt(self, max_accel):
def get_max_axis_halt(self):
# Determine the maximum velocity a cartesian axis could halt
# at due to the junction_deviation setting. The 8.0 was
# determined experimentally.
return math.sqrt(8. * self.junction_deviation * max_accel)
return min(self.max_velocity,
math.sqrt(8. * self.junction_deviation * self.max_accel))
def add_printer_objects(printer, config):
printer.add_object('toolhead', ToolHead(printer, config))