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toolhead: Wrap code to 80 columns 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-02-27 13:11:12 -05:00
parent b934313c3d
commit ee1236805e
1 changed files with 5 additions and 5 deletions
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10
klippy/toolhead.py
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@ -53,9 +53,7 @@ class Move:
return
# Allow extruder to calculate its maximum junction
extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
# Find max velocity using approximated centripetal velocity as
# described at:
# https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/
# Find max velocity using "approximated centripetal velocity"
axes_d = self.axes_d
prev_axes_d = prev_move.axes_d
junction_cos_theta = -((axes_d[0] * prev_axes_d[0]
@ -66,7 +64,8 @@ class Move:
return
junction_cos_theta = max(junction_cos_theta, -0.999999)
sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)
R = (self.toolhead.junction_deviation * sin_theta_d2
/ (1. - sin_theta_d2))
tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta))
move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel
prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2
@ -263,7 +262,8 @@ class ToolHead:
raise config.error(msg)
# SET_VELOCITY_LIMIT command
gcode = self.printer.lookup_object('gcode')
gcode.register_command('SET_VELOCITY_LIMIT', self.cmd_SET_VELOCITY_LIMIT,
gcode.register_command('SET_VELOCITY_LIMIT',
self.cmd_SET_VELOCITY_LIMIT,
desc=self.cmd_SET_VELOCITY_LIMIT_help)
gcode.register_command('M204', self.cmd_M204)
# Print time tracking