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;
}
public Homing(Machine printer)
{
this.printer = printer;
this.toolhead = printer.lookup_object <ToolHead>("toolhead");
this.changed_axes = new List <int>();
this.verify_retract = true;
}