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delta: max z-accel and speed ratio calculation for deltas (#4689)

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Adding a possibility to use a lower z- acceleration.

Signed-off-by: Martin Malmqvist <volcomosq@gmx.com>
This commit is contained in:
Nitram 2021-11-29 19:21:26 +01:00 • committed by GitHub
parent 2b7d0bba42
commit 54acca37ba
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2 changed files with 9 additions and 1 deletions
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klippy/kinematics/delta.py
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@ -30,6 +30,8 @@ class DeltaKinematics:
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
self.max_z_accel = config.getfloat('max_z_accel', self.max_accel,
above=0., maxval=self.max_accel)
# Read radius and arm lengths
self.radius = radius = config.getfloat('delta_radius', above=0.)
print_radius = config.getfloat('print_radius', radius, above=0.)
@ -130,7 +132,8 @@ class DeltaKinematics:
limit_xy2 = -1.
if move.axes_d[2]:
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(self.max_z_velocity * z_ratio, move.accel)
move.limit_speed(self.max_z_velocity * z_ratio,
self.max_z_accel * z_ratio)
limit_xy2 = -1.
# Limit the speed/accel of this move if is is at the extreme
# end of the build envelope