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trapq: Use separate 'move' entries for accel, cruise, and decel phases

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Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements.  This simplifies the calculation logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-05 15:42:19 -05:00
parent 7ca86f1723
commit 076a66f791
5 changed files with 86 additions and 71 deletions
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3
klippy/toolhead.py
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@ -306,7 +306,8 @@ class ToolHead:
move.start_v, move.cruise_v, move.accel)
if move.axes_d[3]:
self.extruder.move(next_move_time, move)
next_move_time += move.accel_t + move.cruise_t + move.decel_t
next_move_time = (next_move_time + move.accel_t
+ move.cruise_t + move.decel_t)
# Generate steps for moves
if self.special_queuing_state == "Drip":
self._update_drip_move_time(next_move_time)