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toolhead: Specify maximum acceleration and velocity in toolhead class

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Change the config file so the maximum accel and velocity are specified
in the "printer" section instead of the individual "stepper" sections.
The underlying code limits the velocity and accel of the toolhead
relative to the print object, so it makes sense to configure the
system that was as well.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-12-01 15:29:26 -05:00
parent fcaf359e89
commit c49d3fdb17
8 changed files with 52 additions and 53 deletions
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22
klippy/cartesian.py
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@@ -13,21 +13,21 @@ class CartKinematics:
self.steppers = [stepper.PrinterStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
self.max_z_accel = config.getfloat('max_z_accel', 9999999.9)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
def set_max_jerk(self, max_xy_halt_velocity, 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)
self.steppers[2].set_max_jerk(0., self.max_z_accel)
def build_config(self):
for stepper in self.steppers[:2]:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
for stepper in self.steppers:
stepper.build_config()
def set_position(self, newpos):
for i in StepList:
s = self.steppers[i]
s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
def get_max_speed(self):
max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
max_xy_accel = min(s.max_accel for s in self.steppers[:2])
return max_xy_speed, max_xy_accel
def get_homed_position(self, homing_state):
pos = [None]*3
for axis in homing_state.get_axes():
@@ -99,13 +99,9 @@ class CartKinematics:
return
# Move with Z - update velocity and accel for slower Z axis
self.check_endstops(move)
axes_d = move.axes_d
move_d = move.move_d
velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
for i in StepList if axes_d[i]])
accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
for i in StepList if axes_d[i]])
move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, move_time, move):
if self.need_motor_enable:
self.check_motor_enable(move_time, move)