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corexy: Fix max_xy_halt_velocity calculation on corexy 

On corexy, the stepper velocity of a diagonal move could be greater
than the maximum printer velocity.  Account for that when setting the
maximum xy halt velocity in the mcu stepper config.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-09 14:45:10 -04:00
parent dba488f30a
commit bf85c61b48
1 changed files with 2 additions and 1 deletions
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3
klippy/corexy.py
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@ -3,7 +3,7 @@
# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import logging import logging, math
import stepper, homing import stepper, homing
StepList = (0, 1, 2) StepList = (0, 1, 2)
@ -24,6 +24,7 @@ class CoreXYKinematics:
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity # Setup stepper max halt velocity
max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel) max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
max_xy_halt_velocity *= math.sqrt(2.)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel) self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].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) max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)