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Independent X & Y Accelerations #4

Merged
merged 8 commits into from
Jan 28, 2024
Merged

Independent X & Y Accelerations #4

merged 8 commits into from
Jan 28, 2024

Commits on Jan 28, 2024

  1. kin limited_corexy and limited_cartesian 

    Adds velocity and acceleration limits on X and Y for these kinematics.
    @Piezoid
    Piezoid committed Jan 28, 2024
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  2. motan: support limited_ prefix for kinematics names

    @Piezoid
    Piezoid committed Jan 28, 2024
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  3. kin limited_*: documentation

    @Piezoid
    Piezoid committed Jan 28, 2024
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  4. toolhead: fix cornering for dynamic accel limits 

    With limited_ kinematics the acceleration may change between moves.
In order to preserve behavior junction_deviation should be recomputed
each time. Since the  `jd * accel` term is constant for a given scv, it
can replace junction_deviation when computing cornering
limits.
This term is the squared toolhead velocity during a 60° cornering.
    @Piezoid
    Piezoid committed Jan 28, 2024
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  5. kin limited_*: scale_xy_accel indep. of max_accel 

    Computes the max XY reachable acceleration for the scale_xy_accel
denominator, instead of relying on config [printer] max_accel.
(`hypot(x, y) ` for Cartesian, `max(X,Y)` for CoreXY)

Removes config limit in SET_KINEMATICS_LIMIT for easier tuning.
    @Piezoid
    Piezoid committed Jan 28, 2024
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  6. kin limited_*: update documentation

    @Piezoid
    Piezoid committed Jan 28, 2024
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  7. kin limited_*: add tests

    @Piezoid
    Piezoid committed Jan 28, 2024
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  8. resonance tester: disable limits (not optimal)

    @Piezoid
    Piezoid committed Jan 28, 2024
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