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@ -1562,8 +1562,9 @@ provides further information on the mechanics of moves.</p>
<ul>
<li>The ToolHead class (in toolhead.py) handles "look-ahead" and tracks
the timing of printing actions. The main codepath for a move is:
<code>ToolHead.move() -&gt; MoveQueue.add_move() -&gt; MoveQueue.flush() -&gt;
Move.set_junction() -&gt; ToolHead._process_moves()</code>.<ul>
<code>ToolHead.move() -&gt; LookAheadQueue.add_move() -&gt;
LookAheadQueue.flush() -&gt; Move.set_junction() -&gt;
ToolHead._process_moves()</code>.<ul>
<li>ToolHead.move() creates a Move() object with the parameters of the
move (in cartesian space and in units of seconds and millimeters).</li>
<li>The kinematics class is given the opportunity to audit each move
@ -1572,10 +1573,10 @@ located in the klippy/kinematics/ directory. The check_move() code
may raise an error if the move is not valid. If check_move()
completes successfully then the underlying kinematics must be able
to handle the move.</li>
<li>MoveQueue.add_move() places the move object on the "look-ahead"
queue.</li>
<li>MoveQueue.flush() determines the start and end velocities of each
move.</li>
<li>LookAheadQueue.add_move() places the move object on the
"look-ahead" queue.</li>
<li>LookAheadQueue.flush() determines the start and end velocities of
each move.</li>
<li>Move.set_junction() implements the "trapezoid generator" on a
move. The "trapezoid generator" breaks every move into three parts:
a constant acceleration phase, followed by a constant velocity
@ -1599,17 +1600,18 @@ millimeters and seconds.</li>
placed on a "trapezoid motion queue": <code>ToolHead._process_moves() -&gt;
trapq_append()</code> (in klippy/chelper/trapq.c). The step times are then
generated: <code>ToolHead._process_moves() -&gt;
ToolHead._update_move_time() -&gt; MCU_Stepper.generate_steps() -&gt;
itersolve_generate_steps() -&gt; itersolve_gen_steps_range()</code> (in
klippy/chelper/itersolve.c). The goal of the iterative solver is to
find step times given a function that calculates a stepper position
from a time. This is done by repeatedly "guessing" various times
until the stepper position formula returns the desired position of
the next step on the stepper. The feedback produced from each guess
is used to improve future guesses so that the process rapidly
converges to the desired time. The kinematic stepper position
formulas are located in the klippy/chelper/ directory (eg,
kin_cart.c, kin_corexy.c, kin_delta.c, kin_extruder.c).</li>
ToolHead._advance_move_time() -&gt; ToolHead._advance_flush_time() -&gt;
MCU_Stepper.generate_steps() -&gt; itersolve_generate_steps() -&gt;
itersolve_gen_steps_range()</code> (in klippy/chelper/itersolve.c). The
goal of the iterative solver is to find step times given a function
that calculates a stepper position from a time. This is done by
repeatedly "guessing" various times until the stepper position
formula returns the desired position of the next step on the
stepper. The feedback produced from each guess is used to improve
future guesses so that the process rapidly converges to the desired
time. The kinematic stepper position formulas are located in the
klippy/chelper/ directory (eg, kin_cart.c, kin_corexy.c,
kin_delta.c, kin_extruder.c).</li>
</ul>
<ul>
<li>Note that the extruder is handled in its own kinematic class: