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toolhead: Replace max_accel_to_decel with minimum_cruise_ratio

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The user facing max_accel_to_decel setting is complicated and
confusing.  Replace it with a new minimum_cruise_ratio parameter.
Internally this user-facing parameter will calculate the existing
low-level "accel_to_decel" mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-03 18:50:44 -05:00
parent 18de421c4a
commit 0105aa330f
10 changed files with 85 additions and 50 deletions
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25
docs/Config_Reference.md
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@ -97,13 +97,22 @@ max_accel:
# will do so at the rate specified here. The value specified here
# may be changed at runtime using the SET_VELOCITY_LIMIT command.
# This parameter must be specified.
#max_accel_to_decel:
# A pseudo acceleration (in mm/s^2) controlling how fast the
# toolhead may go from acceleration to deceleration. It is used to
# reduce the top speed of short zig-zag moves (and thus reduce
# printer vibration from these moves). The value specified here may
# be changed at runtime using the SET_VELOCITY_LIMIT command. The
# default is half of max_accel.
#minimum_cruise_ratio: 0.5
# Most moves will accelerate to a cruising speed, travel at that
# cruising speed, and then decelerate. However, some moves that
# travel a short distance could nominally accelerate and then
# immediately decelerate. This option reduces the top speed of these
# moves to ensure there is always a minimum distance traveled at a
# cruising speed. That is, it enforces a minimum distance traveled
# at cruising speed relative to the total distance traveled. It is
# intended to reduce the top speed of short zigzag moves (and thus
# reduce printer vibration from these moves). For example, a
# minimum_cruise_ratio of 0.5 would ensure that a standalone 1.5mm
# move would have a minimum cruising distance of 0.75mm. Specify a
# ratio of 0.0 to disable this feature (there would be no minimum
# cruising distance enforced between acceleration and deceleration).
# The value specified here may be changed at runtime using the
# SET_VELOCITY_LIMIT command. The default is 0.5.
#square_corner_velocity: 5.0
# The maximum velocity (in mm/s) that the toolhead may travel a 90
# degree corner at. A non-zero value can reduce changes in extruder
@ -116,6 +125,8 @@ max_accel:
# decelerate to zero at each corner. The value specified here may be
# changed at runtime using the SET_VELOCITY_LIMIT command. The
# default is 5mm/s.
#max_accel_to_decel:
# This parameter is deprecated and should no longer be used.
```
### [stepper]