diff options
Diffstat (limited to 'src/Movement/Kinematics/CoreXZKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/CoreXZKinematics.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/Movement/Kinematics/CoreXZKinematics.cpp b/src/Movement/Kinematics/CoreXZKinematics.cpp index d81f13ca..4144aa47 100644 --- a/src/Movement/Kinematics/CoreXZKinematics.cpp +++ b/src/Movement/Kinematics/CoreXZKinematics.cpp @@ -18,7 +18,7 @@ const char *CoreXZKinematics::GetName(bool forStatusReport) const } // Convert Cartesian coordinates to motor coordinates -bool CoreXZKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool allowModeChange) const +bool CoreXZKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const { motorPos[X_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Z_AXIS] * axisFactors[Z_AXIS])) * stepsPerMm[X_AXIS]); motorPos[Y_AXIS] = lrintf(machinePos[Y_AXIS] * stepsPerMm[Y_AXIS]); @@ -56,4 +56,13 @@ bool CoreXZKinematics::DriveIsShared(size_t drive) const return drive == X_AXIS || drive == Z_AXIS; } +// Limit the speed and acceleration of a move to values that the mechanics can handle. +// The speeds in Cartesian space have already been limited. +void CoreXZKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +{ + // Ideally we would do something here, but for now we don't. + // This could mean that a simultaneous X and Z movement with Z at maximum speed up and X at 3x that speed would be under-powered, + // but the workaround in that case would be just to lower the maximum Z speed a little, which won't affect printing speed significantly. +} + // End |