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Velocity limit in radians

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Changes the speed limit from a radius based variable to a rotation velocity limit.

Signed-off-by: Nils Hensch nils.hensch@gmx.de
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Neelix 2026-02-01 17:17:04 +01:00 • committed by GitHub
parent f0ef9036d5
commit 1ecd6f0138
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1 changed files with 8 additions and 6 deletions
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14
klippy/kinematics/polar.py
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@ -25,6 +25,7 @@ def distance_line_to_point(p1, p2):
dist = abs(ab_x * ap_y - ab_y * ap_x) / ab_length
return dist
class PolarKinematics:
def __init__(self, toolhead, config):
# Setup axis steppers
@ -47,8 +48,8 @@ class PolarKinematics:
maxval=self.max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', self.max_accel, above=0., maxval=self.max_accel)
self.critical_radius = config.getfloat(
'critical_radius', above=0., default=0)
self.v_rad_max = config.getfloat(
'max_rad_velocity', above=0., default=0)
self.limit_z = (1.0, -1.0)
self.limit_xy2 = -1.
max_xy = self.rails[0].get_range()[1]
@ -125,12 +126,13 @@ class PolarKinematics:
self.max_z_accel * z_ratio)
# Slow down near center
if move.axes_d[0] or move.axes_d[1]:
if self.critical_radius != 0:
if self.v_rad_max != 0:
min_dist = distance_line_to_point(move.start_pos[0:2],
move.end_pos[0:2])
if min_dist <= self.critical_radius:
if min_dist != 0:
scale_radius = min_dist/self.critical_radius
if min_dist != 0:
v_rot = math.sqrt(move.max_cruise_v2) / min_dist
if self.v_rad_max < v_rot:
scale_radius = self.v_rad_max/v_rot
move.limit_speed(self.max_velocity * scale_radius,
self.max_accel * scale_radius)