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Code Issues Projects Releases Packages Wiki Activity Actions 3

toolhead: Clarify internal minimum_cruise_ratio variable names

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Avoid using "smoothed" and "accel_to_decel" for variables associated
with minimum_cruise_ratio.  Instead introduce the prefix "mcr" for use
with these variables.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-09-26 01:22:57 -04:00
parent a683ef3503
commit ff8c8eab55
1 changed files with 19 additions and 18 deletions
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37
klippy/toolhead.py
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@ -45,9 +45,10 @@ class Move:
self.max_start_v2 = 0.
self.max_cruise_v2 = velocity**2
self.delta_v2 = 2.0 * move_d * self.accel
self.max_smoothed_v2 = 0.
self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
self.next_junction_v2 = 999999999.9
# Setup for minimum_cruise_ratio checks
self.max_mcr_start_v2 = 0.
self.mcr_delta_v2 = 2.0 * move_d * toolhead.mcr_pseudo_accel
def limit_speed(self, speed, accel):
speed2 = speed**2
if speed2 < self.max_cruise_v2:
@ -55,7 +56,7 @@ class Move:
self.min_move_t = self.move_d / speed
self.accel = min(self.accel, accel)
self.delta_v2 = 2.0 * self.move_d * self.accel
self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
self.mcr_delta_v2 = min(self.mcr_delta_v2, self.delta_v2)
def limit_next_junction_speed(self, speed):
self.next_junction_v2 = min(self.next_junction_v2, speed**2)
def move_error(self, msg="Move out of range"):
@ -94,8 +95,8 @@ class Move:
move_centripetal_v2, pmove_centripetal_v2)
# Apply limits
self.max_start_v2 = max_start_v2
self.max_smoothed_v2 = min(
max_start_v2, prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
self.max_mcr_start_v2 = min(
max_start_v2, prev_move.max_mcr_start_v2 + prev_move.mcr_delta_v2)
def set_junction(self, start_v2, cruise_v2, end_v2):
# Determine accel, cruise, and decel portions of the move distance
half_inv_accel = .5 / self.accel
@ -138,16 +139,16 @@ class LookAheadQueue:
# junction speed assuming the robot comes to a complete stop
# after the last move.
delayed = []
next_end_v2 = next_smoothed_v2 = peak_cruise_v2 = 0.
next_start_v2 = next_mcr_start_v2 = peak_cruise_v2 = 0.
for i in range(flush_count-1, -1, -1):
move = queue[i]
reachable_start_v2 = next_end_v2 + move.delta_v2
reachable_start_v2 = next_start_v2 + move.delta_v2
start_v2 = min(move.max_start_v2, reachable_start_v2)
reachable_smoothed_v2 = next_smoothed_v2 + move.smooth_delta_v2
smoothed_v2 = min(move.max_smoothed_v2, reachable_smoothed_v2)
if smoothed_v2 < reachable_smoothed_v2:
reach_mcr_start_v2 = next_mcr_start_v2 + move.mcr_delta_v2
mcr_start_v2 = min(move.max_mcr_start_v2, reach_mcr_start_v2)
if mcr_start_v2 < reach_mcr_start_v2:
# It's possible for this move to accelerate
if (smoothed_v2 + move.smooth_delta_v2 > next_smoothed_v2
if (mcr_start_v2 + move.mcr_delta_v2 > next_mcr_start_v2
or delayed):
# This move can decelerate or this is a full accel
# move after a full decel move
@ -155,7 +156,7 @@ class LookAheadQueue:
flush_count = i
update_flush_count = False
peak_cruise_v2 = min(move.max_cruise_v2, (
smoothed_v2 + reachable_smoothed_v2) * .5)
mcr_start_v2 + reach_mcr_start_v2) * .5)
if delayed:
# Propagate peak_cruise_v2 to any delayed moves
if not update_flush_count and i < flush_count:
@ -169,12 +170,12 @@ class LookAheadQueue:
cruise_v2 = min((start_v2 + reachable_start_v2) * .5
, move.max_cruise_v2, peak_cruise_v2)
move.set_junction(min(start_v2, cruise_v2), cruise_v2
, min(next_end_v2, cruise_v2))
, min(next_start_v2, cruise_v2))
else:
# Delay calculating this move until peak_cruise_v2 is known
delayed.append((move, start_v2, next_end_v2))
next_end_v2 = start_v2
next_smoothed_v2 = smoothed_v2
delayed.append((move, start_v2, next_start_v2))
next_start_v2 = start_v2
next_mcr_start_v2 = mcr_start_v2
if update_flush_count or not flush_count:
return []
# Remove processed moves from the queue
@ -209,7 +210,7 @@ class ToolHead:
0.5, below=1., minval=0.)
self.square_corner_velocity = config.getfloat(
'square_corner_velocity', 5., minval=0.)
self.junction_deviation = self.max_accel_to_decel = 0.
self.junction_deviation = self.mcr_pseudo_accel = 0.
self._calc_junction_deviation()
# Input stall detection
self.check_stall_time = 0.
@ -510,7 +511,7 @@ class ToolHead:
def _calc_junction_deviation(self):
scv2 = self.square_corner_velocity**2
self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel
self.max_accel_to_decel = self.max_accel * (1. - self.min_cruise_ratio)
self.mcr_pseudo_accel = self.max_accel * (1. - self.min_cruise_ratio)
def set_max_velocities(self, max_velocity, max_accel,
square_corner_velocity, min_cruise_ratio):
if max_velocity is not None: