Exemple #1
0
        public Move(ToolHead toolhead, Vector4d start_pos, Vector4d end_pos, double speed)
        {
            this.toolhead  = toolhead;
            this.start_pos = start_pos;
            this.end_pos   = end_pos;
            this.accel     = toolhead.max_accel;
            var velocity = Math.Min(speed, toolhead.max_velocity);

            this.cmove             = toolhead.cmove;
            this.is_kinematic_move = true;
            this.axes_d            = end_pos - start_pos;
            this.move_d            = ((Vector3d)axes_d).Length();  //Math.Sqrt((from d in axes_d.GetRange(0, 3) select (d * d)).Sum());
            if (move_d < 0.000000001)
            {
                // Extrude only move
                this.end_pos           = start_pos;
                axes_d.X               = 0.0f;
                this.move_d            = Math.Abs(axes_d.W);
                this.accel             = 99999999.9;
                velocity               = speed;
                this.is_kinematic_move = false;
            }
            this.min_move_t = move_d / velocity;
            // Junction speeds are tracked in velocity squared.  The
            // delta_v2 is the maximum amount of this squared-velocity that
            // can change in this move.
            this.max_start_v2    = 0.0;
            this.max_cruise_v2   = Math.Pow(velocity, 2);
            this.delta_v2        = 2.0 * move_d * this.accel;
            this.max_smoothed_v2 = 0.0;
            this.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel;
        }
Exemple #2
0
 public Homing(Machine printer)
 {
     this.printer        = printer;
     this.toolhead       = printer.lookup_object <ToolHead>("toolhead");
     this.changed_axes   = new List <int>();
     this.verify_retract = true;
 }