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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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47
klippy/toolhead.py
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@ -217,12 +217,19 @@ class ToolHead:
# Velocity and acceleration control
self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
self.requested_accel_to_decel = config.getfloat(
'max_accel_to_decel', self.max_accel * 0.5, above=0.)
self.max_accel_to_decel = self.requested_accel_to_decel
self.min_cruise_ratio = config.getfloat('minimum_cruise_ratio', None,
below=1., minval=0.)
if self.min_cruise_ratio is None:
self.min_cruise_ratio = 0.5
req_accel_to_decel = config.getfloat('max_accel_to_decel', None,
above=0.)
if req_accel_to_decel is not None:
config.deprecate('max_accel_to_decel')
self.min_cruise_ratio = 1. - min(1., (req_accel_to_decel
/ self.max_accel))
self.square_corner_velocity = config.getfloat(
'square_corner_velocity', 5., minval=0.)
self.junction_deviation = 0.
self.junction_deviation = self.max_accel_to_decel = 0.
self._calc_junction_deviation()
# Input stall detection
self.check_stall_time = 0.
@ -561,7 +568,7 @@ class ToolHead:
'position': self.Coord(*self.commanded_pos),
'max_velocity': self.max_velocity,
'max_accel': self.max_accel,
'max_accel_to_decel': self.requested_accel_to_decel,
'minimum_cruise_ratio': self.min_cruise_ratio,
'square_corner_velocity': self.square_corner_velocity})
return res
def _handle_shutdown(self):
@ -600,8 +607,7 @@ class ToolHead:
def _calc_junction_deviation(self):
scv2 = self.square_corner_velocity**2
self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel
self.max_accel_to_decel = min(self.requested_accel_to_decel,
self.max_accel)
self.max_accel_to_decel = self.max_accel * (1. - self.min_cruise_ratio)
def cmd_G4(self, gcmd):
# Dwell
delay = gcmd.get_float('P', 0., minval=0.) / 1000.
@ -615,29 +621,34 @@ class ToolHead:
max_accel = gcmd.get_float('ACCEL', None, above=0.)
square_corner_velocity = gcmd.get_float(
'SQUARE_CORNER_VELOCITY', None, minval=0.)
requested_accel_to_decel = gcmd.get_float(
'ACCEL_TO_DECEL', None, above=0.)
min_cruise_ratio = gcmd.get_float(
'MINIMUM_CRUISE_RATIO', None, minval=0., below=1.)
if min_cruise_ratio is None:
req_accel_to_decel = gcmd.get_float('ACCEL_TO_DECEL',
None, above=0.)
if req_accel_to_decel is not None and max_accel is not None:
min_cruise_ratio = 1. - min(1., req_accel_to_decel / max_accel)
elif req_accel_to_decel is not None and max_accel is None:
min_cruise_ratio = 1. - min(1., (req_accel_to_decel
/ self.max_accel))
if max_velocity is not None:
self.max_velocity = max_velocity
if max_accel is not None:
self.max_accel = max_accel
if square_corner_velocity is not None:
self.square_corner_velocity = square_corner_velocity
if requested_accel_to_decel is not None:
self.requested_accel_to_decel = requested_accel_to_decel
if min_cruise_ratio is not None:
self.min_cruise_ratio = min_cruise_ratio
self._calc_junction_deviation()
msg = ("max_velocity: %.6f\n"
"max_accel: %.6f\n"
"max_accel_to_decel: %.6f\n"
"minimum_cruise_ratio: %.6f\n"
"square_corner_velocity: %.6f" % (
self.max_velocity, self.max_accel,
self.requested_accel_to_decel,
self.square_corner_velocity))
self.min_cruise_ratio, self.square_corner_velocity))
self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,))
if (max_velocity is None and
max_accel is None and
square_corner_velocity is None and
requested_accel_to_decel is None):
if (max_velocity is None and max_accel is None
and square_corner_velocity is None and min_cruise_ratio is None):
gcmd.respond_info(msg, log=False)
def cmd_M204(self, gcmd):
# Use S for accel