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docs: Update Code_Overview.md with recent motion generation changes

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
2025-09-24 15:30:46 -04:00
parent dfa666d9c1
commit 1da2e39b85
1 changed files with 9 additions and 8 deletions
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docs/Code_Overview.md
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@@ -129,7 +129,7 @@ There are several threads in the Klipper host code:
the main Python thread.
* A thread per stepper motor that calculates the timing of stepper
motor step pulses and compresses those times. This thread resides in
the **klippy/chelper/stepcompress.c** C code and its operation is
the **klippy/chelper/steppersync.c** C code and its operation is
generally not exposed to the Python code.
## Code flow of a move command
@@ -151,9 +151,10 @@ provides further information on the mechanics of moves.
* The ToolHead class (in toolhead.py) handles "look-ahead" and tracks
the timing of printing actions. The main codepath for a move is:
`ToolHead.move() -> LookAheadQueue.add_move() ->
LookAheadQueue.flush() -> Move.set_junction() ->
ToolHead._process_moves() -> trapq_append()`.
`ToolHead.move() -> LookAheadQueue.add_move()`, then
`ToolHead.move() -> ToolHead._process_lookahead() ->
LookAheadQueue.flush() -> Move.set_junction()`, and then
`ToolHead._process_lookahead() -> trapq_append()`.
* ToolHead.move() creates a Move() object with the parameters of the
move (in cartesian space and in units of seconds and millimeters).
* The kinematics class is given the opportunity to audit each move
@@ -172,7 +173,7 @@ provides further information on the mechanics of moves.
phase, followed by a constant deceleration phase. Every move
contains these three phases in this order, but some phases may be of
zero duration.
* When ToolHead._process_moves() is called, everything about the
* When ToolHead._process_lookahead() resumes, everything about the
move is known - its start location, its end location, its
acceleration, its start/cruising/end velocity, and distance traveled
during acceleration/cruising/deceleration. All the information is
@@ -184,9 +185,9 @@ provides further information on the mechanics of moves.
C code.
* Note that the extruder is handled in its own kinematic class:
`ToolHead._process_moves() -> PrinterExtruder.process_move()`. Since
the Move() class specifies the exact movement time and since step
pulses are sent to the micro-controller with specific timing,
`ToolHead._process_lookahead() -> PrinterExtruder.process_move()`.
Since the Move() class specifies the exact movement time and since
step pulses are sent to the micro-controller with specific timing,
stepper movements produced by the extruder class will be in sync
with head movement even though the code is kept separate.