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toolhead: Introduce "smoothed" acceleration during lookahead

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Update the lookahead code to track both normal toolhead acceleration
as well as a pseudo acceleration to the point of deceleration.  This
reduces the top speed of small zig-zag moves and it reduces printer
vibration during these moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-01-31 15:29:16 -05:00
parent 074495a13a
commit c24b7a7ef9
2 changed files with 47 additions and 9 deletions
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6
config/example.cfg
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@@ -240,6 +240,12 @@ max_velocity: 500
max_accel: 3000
# Maximum acceleration (in mm/s^2) of the toolhead (relative to the
# print). This parameter must be specified.
#max_accel_to_decel:
# A pseudo acceleration (in mm/s^2) controlling how fast the
# toolhead may go from acceleration to deceleration. It is used to
# reduce the top speed of short zig-zag moves (and thus reduce
# printer vibration from these moves). The default is half of
# max_accel.
max_z_velocity: 250
# For cartesian printers this sets the maximum velocity (in mm/s) of
# movement along the z axis. This setting can be used to restrict