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Code Issues Projects Releases Packages Wiki Activity Actions 3

Corrects thikonov/tikhonov spelling err

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Torbjørn Ludvigsen 2025-10-16 14:15:04 +02:00
parent d7906d36a9
commit c7c809e4f5
3 changed files with 7 additions and 7 deletions
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2
config/example-winch.cfg
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@ -89,6 +89,6 @@ winch_spring_constant: 0.0
winch_min_force: 0.0, 0.0, 0.0, 0.0
winch_max_force: 120.0, 120.0, 120.0, 120.0
winch_guy_wire_lengths: 0.0, 0.0, 0.0, 0.0
flex_compensation_algorithm: thikonov
flex_compensation_algorithm: tikhonov
ignoreGravity: false
ignorePretension: false

6
docs/Config_Reference.md
View file

@ -735,12 +735,12 @@ winch_guy_wire_lengths:
# The default is 0 for each anchor.
flex_compensation_algorithm:
# Solver used when computing how much force is required to counteract
# gravity and pretension. Choices are 'thikonov' and 'qp'.
# gravity and pretension. Choices are 'tikhonov' and 'qp'.
# Both algorithms will respect the max/min limits at all times and
# compute the same forces most of the time.
# They behave differently near the outskirts of the build volume.
#
# 'thikonov' will treat force equilibrium (perfect gravity/pretension counteraction)
# 'tikhonov' will treat force equilibrium (perfect gravity/pretension counteraction)
# as a "best-effort target", prioritizing making the resulting
# forces low, smooth, and safe.
#
@ -748,7 +748,7 @@ flex_compensation_algorithm:
# equilibrium whenever theoretically possible, even if that means adding sudden
# large forces or pushing several motors to their max limit simultaneously.
#
# The default is 'thikonov'.
# The default is 'tikhonov'.
ignore_gravity:
# Tell the flex compensation algorithm to
# only solve for pretension forces, not gravity counteracting forces.

6
klippy/kinematics/winch.py
View file

@ -7,7 +7,7 @@ import stepper, mathutil, chelper
class WinchFlexHelper:
ALGORITHMS = {'thikonov': 0, 'qp': 1}
ALGORITHMS = {'tikhonov': 0, 'qp': 1}
ALGO_NAMES = {v: k for k, v in ALGORITHMS.items()}
def __init__(self, anchors, config):
@ -15,7 +15,7 @@ class WinchFlexHelper:
self.num = len(self._anchors)
self.ptr = None
self.enabled = False
self.flex_compensation_algorithm_name = 'thikonov'
self.flex_compensation_algorithm_name = 'tikhonov'
self.flex_compensation_algorithm = self.ALGORITHMS[self.flex_compensation_algorithm_name]
self.ignore_gravity = False
self.ignore_pretension = False
@ -48,7 +48,7 @@ class WinchFlexHelper:
self.guy_wires = []
algo_choices = list(self.ALGORITHMS.keys())
self.flex_compensation_algorithm_name = config.getchoice(
'flex_compensation_algorithm', algo_choices, default='thikonov')
'flex_compensation_algorithm', algo_choices, default='tikhonov')
self.flex_compensation_algorithm = self.ALGORITHMS[self.flex_compensation_algorithm_name]
self.ignore_gravity = config.getboolean('ignore_gravity', False)
self.ignore_pretension = config.getboolean('ignore_pretension', False)