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toolhead: Do not limit SET_VELOCITY_LIMIT to values specified in config 

Allow a larger velocity, accel, and square_corner_velocity than what
is specified in the config file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-25 14:58:44 -04:00
parent 5a5ecd88e2
commit b1ea4f3bef
2 changed files with 8 additions and 8 deletions
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4
docs/Config_Changes.md
View File

@ -6,6 +6,10 @@ All dates in this document are approximate.
# Changes # Changes
20210430: The SET_VELOCITY_LIMIT (and M204) command may now set a
velocity, acceleration, and square_corner_velocity larger than the
specified values in the config file.
20210325: Support for the `pin_map` config option is deprecated. Use 20210325: Support for the `pin_map` config option is deprecated. Use
the [sample-aliases.cfg](../config/sample-aliases.cfg) file to the [sample-aliases.cfg](../config/sample-aliases.cfg) file to
translate to the actual micro-controller pin names. The `pin_map` translate to the actual micro-controller pin names. The `pin_map`

12
klippy/toolhead.py
View File

@ -217,9 +217,6 @@ class ToolHead:
self.max_accel_to_decel = self.requested_accel_to_decel self.max_accel_to_decel = self.requested_accel_to_decel
self.square_corner_velocity = config.getfloat( self.square_corner_velocity = config.getfloat(
'square_corner_velocity', 5., minval=0.) 'square_corner_velocity', 5., minval=0.)
self.config_max_velocity = self.max_velocity
self.config_max_accel = self.max_accel
self.config_square_corner_velocity = self.square_corner_velocity
self.junction_deviation = 0. self.junction_deviation = 0.
self._calc_junction_deviation() self._calc_junction_deviation()
# Print time tracking # Print time tracking
@ -560,10 +557,9 @@ class ToolHead:
'SQUARE_CORNER_VELOCITY', self.square_corner_velocity, minval=0.) 'SQUARE_CORNER_VELOCITY', self.square_corner_velocity, minval=0.)
self.requested_accel_to_decel = gcmd.get_float( self.requested_accel_to_decel = gcmd.get_float(
'ACCEL_TO_DECEL', self.requested_accel_to_decel, above=0.) 'ACCEL_TO_DECEL', self.requested_accel_to_decel, above=0.)
self.max_velocity = min(max_velocity, self.config_max_velocity) self.max_velocity = max_velocity
self.max_accel = min(max_accel, self.config_max_accel) self.max_accel = max_accel
self.square_corner_velocity = min(square_corner_velocity, self.square_corner_velocity = square_corner_velocity
self.config_square_corner_velocity)
self._calc_junction_deviation() self._calc_junction_deviation()
msg = ("max_velocity: %.6f\n" msg = ("max_velocity: %.6f\n"
"max_accel: %.6f\n" "max_accel: %.6f\n"
@ -586,7 +582,7 @@ class ToolHead:
% (gcmd.get_commandline(),)) % (gcmd.get_commandline(),))
return return
accel = min(p, t) accel = min(p, t)
self.max_accel = min(accel, self.config_max_accel) self.max_accel = accel
self._calc_junction_deviation() self._calc_junction_deviation()
def add_printer_objects(config): def add_printer_objects(config):