Tweak to homing procedure

2021-03-04 12:51:11 -08:00
parent fd371f5189
commit df4137b1ce
2 changed files with 18 additions and 4 deletions
--- a/src/py/bbctrl/Planner.py
+++ b/src/py/bbctrl/Planner.py
@@ -96,6 +96,12 @@ class Planner():
            'junction-accel':  config.get('junction-accel'),
            }

+        # We place an upper limit of 1000 km/min^3 on jerk for MDI movements
+        if mdi:
+            for axis in 'xyzabc':
+                if axis in cfg['max-jerk']:
+                    cfg['max-jerk'][axis] = min(1000 * 1000000, cfg['max-jerk'][axis])
+
        if with_limits:
            minLimit = state.get_soft_limit_vector('tn', -math.inf)
            maxLimit = state.get_soft_limit_vector('tm', math.inf)