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bugfix: toolhead stuttering after commit b0e18b3 #478

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merged 1 commit into from
Dec 11, 2024
Merged

bugfix: toolhead stuttering after commit b0e18b3 #478

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14 changes: 11 additions & 3 deletions klippy/toolhead.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@ def __init__(self, toolhead, start_pos, end_pos, speed):
self.end_pos = tuple(end_pos)
self.accel = toolhead.max_accel
self.junction_deviation = toolhead.junction_deviation
self.equilateral_corner_v2 = toolhead.equilateral_corner_v2
self.timing_callbacks = []
velocity = min(speed, toolhead.max_velocity)
self.is_kinematic_move = True
Expand Down Expand Up @@ -55,6 +54,7 @@ def __init__(self, toolhead, start_pos, end_pos, speed):
self.delta_v2 = 2.0 * move_d * self.accel
self.max_smoothed_v2 = 0.0
self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
self.next_junction_v2 = 999999999.9

def limit_speed(self, speed, accel):
speed2 = speed**2
Expand All @@ -65,6 +65,9 @@ def limit_speed(self, speed, accel):
self.delta_v2 = 2.0 * self.move_d * self.accel
self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)

def limit_next_junction_speed(self, speed):
self.next_junction_v2 = min(self.next_junction_v2, speed**2)

def move_error(self, msg="Move out of range"):
ep = self.end_pos
m = "%s: %.3f %.3f %.3f [%.3f]" % (msg, ep[0], ep[1], ep[2], ep[3])
Expand All @@ -79,6 +82,7 @@ def calc_junction(self, prev_move):
extruder_v2,
self.max_cruise_v2,
prev_move.max_cruise_v2,
prev_move.next_junction_v2,
prev_move.max_start_v2 + prev_move.delta_v2,
)
# Find max velocity using "approximated centripetal velocity"
Expand Down Expand Up @@ -279,7 +283,6 @@ def __init__(self, config):
self.square_corner_velocity = config.getfloat(
"square_corner_velocity", 5.0, minval=0.0
)
self.equilateral_corner_v2 = 0.0
self.junction_deviation = self.max_accel_to_decel = 0
self._calc_junction_deviation()
# Input stall detection
Expand Down Expand Up @@ -577,6 +580,11 @@ def set_position(self, newpos, homing_axes=()):
self.kin.set_position(newpos, homing_axes)
self.printer.send_event("toolhead:set_position")

def limit_next_junction_speed(self, speed):
last_move = self.lookahead.get_last()
if last_move is not None:
last_move.limit_next_junction_speed(speed)

def move(self, newpos, speed):
move = Move(self, self.commanded_pos, newpos, speed)
if not move.move_d:
Expand Down Expand Up @@ -751,7 +759,7 @@ def get_max_velocity(self):

def _calc_junction_deviation(self):
scv2 = self.square_corner_velocity**2
self.equilateral_corner_v2 = scv2 * (math.sqrt(2.0) - 1.0)
self.junction_deviation = scv2 * (math.sqrt(2.0) - 1.0) / self.max_accel
self.max_accel_to_decel = self.max_accel * (1.0 - self.min_cruise_ratio)

def cmd_G4(self, gcmd):
Expand Down
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