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cartesian: Fix min_stop_interval calculation error
It is possible to have an acceleration greater than max_z_accel on XY+Z moves. That needs to be taken into account when calculating the min_stop_interval. This prevents spurious "No next step" MCU errors. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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4 changed files with 14 additions and 13 deletions
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@ -21,11 +21,11 @@ class CartKinematics:
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self.need_motor_enable = True
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self.limits = [(1.0, -1.0)] * 3
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# Setup stepper max halt velocity
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max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
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self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
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max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
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self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
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max_halt_velocity = toolhead.get_max_axis_halt()
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self.steppers[0].set_max_jerk(max_halt_velocity, max_accel)
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self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
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self.steppers[2].set_max_jerk(
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min(max_halt_velocity, self.max_z_velocity), max_accel)
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def set_position(self, newpos):
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for i in StepList:
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self.steppers[i].mcu_stepper.set_position(newpos[i])
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