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Independent X & Y Accelerations #4
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Commits on Jan 28, 2024
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kin limited_corexy and limited_cartesian
Adds velocity and acceleration limits on X and Y for these kinematics.
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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.
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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.
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