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cartesian: Fix min_stop_interval calculation error

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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>
This commit is contained in:
Kevin O'Connor 2017-10-12 00:48:01 -04:00
parent d3eb148cfa
commit cc7c99a4a4
4 changed files with 14 additions and 13 deletions
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8
klippy/corexy.py
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@ -23,12 +23,12 @@ class CoreXYKinematics:
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
max_xy_halt_velocity *= math.sqrt(2.)
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList: