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Optimize g-code generation for Klipper: combine accel and jerk command

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This commit is contained in:
SoftFever 2023-10-24 00:02:26 +08:00
parent d6146ecc84
commit 7a2229cae9
4 changed files with 76 additions and 10 deletions
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42
src/libslic3r/GCodeWriter.cpp
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@ -248,6 +248,48 @@ std::string GCodeWriter::set_jerk_xy(double jerk)
}
std::string GCodeWriter::set_accel_and_jerk(unsigned int acceleration, double jerk)
{
// Only Klipper supports setting acceleration and jerk at the same time. Throw an error if we try to do this on other flavours.
if(FLAVOR_IS_NOT(gcfKlipper))
throw std::runtime_error("set_accel_and_jerk() is only supported by Klipper");
// Clamp the acceleration to the allowed maximum.
if (m_max_acceleration > 0 && acceleration > m_max_acceleration)
acceleration = m_max_acceleration;
bool is_empty = true;
std::ostringstream gcode;
gcode << "SET_VELOCITY_LIMIT";
if (acceleration != 0 && acceleration != m_last_acceleration) {
gcode << " ACCEL=" << acceleration;
if (this->config.accel_to_decel_enable) {
gcode << " ACCEL_TO_DECEL=" << acceleration * this->config.accel_to_decel_factor / 100;
}
m_last_acceleration = acceleration;
is_empty = false;
}
// Clamp the jerk to the allowed maximum.
if (m_max_jerk > 0 && jerk > m_max_jerk)
jerk = m_max_jerk;
if (jerk > 0.01 && !is_approx(jerk, m_last_jerk)) {
gcode << " SQUARE_CORNER_VELOCITY=" << jerk;
m_last_jerk = jerk;
is_empty = false;
}
if(is_empty)
return std::string();
if (GCodeWriter::full_gcode_comment)
gcode << " ; adjust VELOCITY_LIMIT(accel/jerk)";
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::set_pressure_advance(double pa) const
{
std::ostringstream gcode;