From c7c809e4f5208b3fdb0f7d16d5a9be48f2e14e07 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Torbj=C3=B8rn=20Ludvigsen?= Date: Thu, 16 Oct 2025 14:15:04 +0200 Subject: [PATCH] Corrects thikonov/tikhonov spelling err --- config/example-winch.cfg | 2 +- docs/Config_Reference.md | 6 +++--- klippy/kinematics/winch.py | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/config/example-winch.cfg b/config/example-winch.cfg index b0ec30906..7b756d056 100644 --- a/config/example-winch.cfg +++ b/config/example-winch.cfg @@ -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 diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index 7f1b4fe1c..3f2ec0ea1 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -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. diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index fd83a51b5..fc1bb2b8c 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -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)