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toolhead: Remove support for max_accel_to_decel

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This support was deprecated on 20240313.  Remove the remaining
compatibility code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-04 12:02:35 -04:00
parent cfc58d3ce7
commit 3ef760c18f
4 changed files with 7 additions and 22 deletions
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5
docs/Config_Changes.md
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@ -8,6 +8,11 @@ All dates in this document are approximate.
## Changes ## Changes
20250811: Support for the `max_accel_to_decel` parameter in the
`[printer]` config section has been removed and support for the
`ACCEL_TO_DECEL` parameter in the `SET_VELOCITY_LIMIT` command has
been removed. These capabilities were deprecated on 20240313.
20250721: The `[pca9632]` and `[mcp4018]` modules no longer accept the 20250721: The `[pca9632]` and `[mcp4018]` modules no longer accept the
`scl_pin` and `sda_pin` options. Use `i2c_software_scl_pin` and `scl_pin` and `sda_pin` options. Use `i2c_software_scl_pin` and
`i2c_software_sda_pin` instead. `i2c_software_sda_pin` instead.

3
docs/Config_Reference.md
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@ -126,8 +126,6 @@ max_accel:
# decelerate to zero at each corner. The value specified here may be # decelerate to zero at each corner. The value specified here may be
# changed at runtime using the SET_VELOCITY_LIMIT command. The # changed at runtime using the SET_VELOCITY_LIMIT command. The
# default is 5mm/s. # default is 5mm/s.
#max_accel_to_decel:
# This parameter is deprecated and should no longer be used.
``` ```
### [stepper] ### [stepper]
@ -740,7 +738,6 @@ max_velocity:
max_accel: max_accel:
#minimum_cruise_ratio: #minimum_cruise_ratio:
#square_corner_velocity: #square_corner_velocity:
#max_accel_to_decel:
#max_z_velocity: #max_z_velocity:
#max_z_accel: #max_z_accel:

19
klippy/toolhead.py
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@ -219,17 +219,8 @@ class ToolHead:
# Velocity and acceleration control # Velocity and acceleration control
self.max_velocity = config.getfloat('max_velocity', above=0.) self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.) self.max_accel = config.getfloat('max_accel', above=0.)
min_cruise_ratio = 0.5
if config.getfloat('minimum_cruise_ratio', None) is None:
req_accel_to_decel = config.getfloat('max_accel_to_decel', None,
above=0.)
if req_accel_to_decel is not None:
config.deprecate('max_accel_to_decel')
min_cruise_ratio = 1. - min(1., (req_accel_to_decel
/ self.max_accel))
self.min_cruise_ratio = config.getfloat('minimum_cruise_ratio', self.min_cruise_ratio = config.getfloat('minimum_cruise_ratio',
min_cruise_ratio, 0.5, below=1., minval=0.)
below=1., minval=0.)
self.square_corner_velocity = config.getfloat( self.square_corner_velocity = config.getfloat(
'square_corner_velocity', 5., minval=0.) 'square_corner_velocity', 5., minval=0.)
self.junction_deviation = self.max_accel_to_decel = 0. self.junction_deviation = self.max_accel_to_decel = 0.
@ -686,14 +677,6 @@ class ToolHead:
'SQUARE_CORNER_VELOCITY', None, minval=0.) 'SQUARE_CORNER_VELOCITY', None, minval=0.)
min_cruise_ratio = gcmd.get_float( min_cruise_ratio = gcmd.get_float(
'MINIMUM_CRUISE_RATIO', None, minval=0., below=1.) 'MINIMUM_CRUISE_RATIO', None, minval=0., below=1.)
if min_cruise_ratio is None:
req_accel_to_decel = gcmd.get_float('ACCEL_TO_DECEL',
None, above=0.)
if req_accel_to_decel is not None and max_accel is not None:
min_cruise_ratio = 1. - min(1., req_accel_to_decel / max_accel)
elif req_accel_to_decel is not None and max_accel is None:
min_cruise_ratio = 1. - min(1., (req_accel_to_decel
/ self.max_accel))
if max_velocity is not None: if max_velocity is not None:
self.max_velocity = max_velocity self.max_velocity = max_velocity
if max_accel is not None: if max_accel is not None:

2
test/klippy/commands.test
View File

@ -36,7 +36,7 @@ SET_GCODE_OFFSET Z=.1
M206 Z-.2 M206 Z-.2
SET_GCODE_OFFSET Z_ADJUST=-.1 SET_GCODE_OFFSET Z_ADJUST=-.1
SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 ACCEL_TO_DECEL=200 SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 MINIMUM_CRUISE_RATIO=0
M204 S500 M204 S500
SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=.001 SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=.001