docs: Use only single space at start of new sentence
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
		| @@ -5,7 +5,7 @@ Klipper has several compelling features: | ||||
|   movements. The application processor determines when to step each | ||||
|   stepper motor, it compresses those events, transmits them to the | ||||
|   micro-controller, and then the micro-controller executes each event | ||||
|   at the requested time.  Each stepper event is scheduled with a | ||||
|   at the requested time. Each stepper event is scheduled with a | ||||
|   precision of 25 micro-seconds or better. The software does not use | ||||
|   kinematic estimations (such as the Bresenham algorithm) - instead it | ||||
|   calculates precise step times based on the physics of acceleration | ||||
|   | ||||
| @@ -9,14 +9,14 @@ Acceleration | ||||
|  | ||||
| Klipper implements a constant acceleration scheme whenever the print | ||||
| head changes velocity - the velocity is gradually changed to the new | ||||
| speed instead of suddenly jerking to it.  Klipper always enforces | ||||
| acceleration between the tool head and the print.  The filament | ||||
| leaving the extruder can be quite fragile - rapid jerks and/or | ||||
| extruder flow changes lead to poor quality and poor bed adhesion. Even | ||||
| when not extruding, if the print head is at the same level as the | ||||
| print then rapid jerking of the head can cause disruption of recently | ||||
| deposited filament. Limiting speed changes of the print head (relative | ||||
| to the print) reduces risks of disrupting the print. | ||||
| speed instead of suddenly jerking to it. Klipper always enforces | ||||
| acceleration between the tool head and the print. The filament leaving | ||||
| the extruder can be quite fragile - rapid jerks and/or extruder flow | ||||
| changes lead to poor quality and poor bed adhesion. Even when not | ||||
| extruding, if the print head is at the same level as the print then | ||||
| rapid jerking of the head can cause disruption of recently deposited | ||||
| filament. Limiting speed changes of the print head (relative to the | ||||
| print) reduces risks of disrupting the print. | ||||
|  | ||||
| It is also important to enforce a maximum acceleration of the stepper | ||||
| motors to ensure they do not skip or put excessive stress on the | ||||
| @@ -25,8 +25,8 @@ limiting the acceleration of the print head. Enforcing acceleration at | ||||
| the print head naturally also enforces acceleration at the steppers | ||||
| that control that print head (the inverse is not always true). | ||||
|  | ||||
| Klipper implements constant acceleration.  The key formula for | ||||
| constant acceleration is: | ||||
| Klipper implements constant acceleration. The key formula for constant | ||||
| acceleration is: | ||||
| ``` | ||||
| velocity(time) = start_velocity + accel*time | ||||
| ``` | ||||
| @@ -101,15 +101,15 @@ Smoothed look-ahead | ||||
| ------------------- | ||||
|  | ||||
| Klipper also implements a mechanism for smoothing out the motions of | ||||
| short "zigzag" moves.  Consider the following moves: | ||||
| short "zigzag" moves. Consider the following moves: | ||||
|  | ||||
|  | ||||
|  | ||||
| In the above, the frequent changes from acceleration to deceleration | ||||
| can cause the machine to vibrate which causes stress on the machine | ||||
| and increases the noise.  To reduce this, Klipper tracks both regular | ||||
| and increases the noise. To reduce this, Klipper tracks both regular | ||||
| move acceleration as well as a virtual "acceleration to deceleration" | ||||
| rate.  Using this system, the top speed of these short "zigzag" moves | ||||
| rate. Using this system, the top speed of these short "zigzag" moves | ||||
| are limited to smooth out the printer motion: | ||||
|  | ||||
|  | ||||
| @@ -133,8 +133,8 @@ Generating steps | ||||
| Once the look-ahead process completes, the print head movement for the | ||||
| given move is fully known (time, start position, end position, | ||||
| velocity at each point) and it is possible to generate the step times | ||||
| for the move.  This process is done within "kinematic classes" in the | ||||
| Klipper code.  Outside of these kinematic classes, everything is | ||||
| for the move. This process is done within "kinematic classes" in the | ||||
| Klipper code. Outside of these kinematic classes, everything is | ||||
| tracked in millimeters, seconds, and in cartesian coordinate space. | ||||
| It's the task of the kinematic classes to convert from this generic | ||||
| coordinate system to the hardware specifics of the particular printer. | ||||
| @@ -223,7 +223,7 @@ acceleration and velocity. | ||||
| Extruder kinematics | ||||
| ------------------- | ||||
|  | ||||
| Klipper implements extruder motion in its own kinematic class.  Since | ||||
| Klipper implements extruder motion in its own kinematic class. Since | ||||
| the timing and speed of each print head movement is fully known for | ||||
| each move, it's possible to calculate the step times for the extruder | ||||
| independently from the step time calculations of the print head | ||||
|   | ||||
| @@ -262,7 +262,7 @@ Stepper commands | ||||
|  | ||||
| * `stepper_get_position oid=%c` : This command causes the | ||||
|   micro-controller to generate a "stepper_position" response message | ||||
|   with the stepper's current position.  The position is the total | ||||
|   with the stepper's current position. The position is the total | ||||
|   number of steps generated with dir=1 minus the total number of steps | ||||
|   generated with dir=0. | ||||
|  | ||||
|   | ||||
| @@ -31,7 +31,7 @@ as a blob when the head slows down to corner. | ||||
|  | ||||
| The next step is to set pressure_advance_lookahead_time to 0.0, slowly | ||||
| increase pressure_advance (eg, start with 0.05), and reprint the test | ||||
| object. (Be sure to issue RESTART between each config change.)  The | ||||
| object. (Be sure to issue RESTART between each config change.) The | ||||
| goal is to attempt to eliminate the blobbing during cornering. (With | ||||
| pressure advance, the extruder will retract when the head slows down, | ||||
| thus countering the pressure buildup and ideally eliminate the | ||||
|   | ||||
| @@ -1,6 +1,6 @@ | ||||
| The Klipper messaging protocol is used for low-level communication | ||||
| between the Klipper host software and the Klipper micro-controller | ||||
| software.  At a high level the protocol can be thought of as a series | ||||
| software. At a high level the protocol can be thought of as a series | ||||
| of command and response strings that are compressed, transmitted, and | ||||
| then processed at the receiving side. An example series of commands in | ||||
| uncompressed human-readable format might look like: | ||||
| @@ -112,7 +112,7 @@ to generate and format arbitrary messages for human consumption. | ||||
| Declaring constants | ||||
| ------------------- | ||||
|  | ||||
| Constants can also be exported.  For example, the following: | ||||
| Constants can also be exported. For example, the following: | ||||
|  | ||||
| ``` | ||||
| DECL_CONSTANT(SERIAL_BAUD, 250000); | ||||
| @@ -133,7 +133,7 @@ Message Blocks | ||||
|  | ||||
| All data sent from host to micro-controller and vice-versa are | ||||
| contained in "message blocks". A message block has a two byte header | ||||
| and a three byte trailer.  The format of a message block is: | ||||
| and a three byte trailer. The format of a message block is: | ||||
|  | ||||
| ``` | ||||
| <1 byte length><1 byte sequence><n-byte content><2 byte crc><1 byte sync> | ||||
|   | ||||
| @@ -1,4 +1,4 @@ | ||||
| There are several features still to be implemented in Klipper.  In no | ||||
| There are several features still to be implemented in Klipper. In no | ||||
| particular order: | ||||
|  | ||||
| Host user interaction | ||||
|   | ||||
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