velocity: Remove M204 override and associated option

README.md

@@ -1111,9 +1111,7 @@ related commands, such as accelleration, jerk, and linear advance.
 #### Marlin Compatibility
 
 * The `M201`, `M203`, `M204`, and `M205` commands are implemented by calling
-  Klipper's `SET_VELOCITY_LIMIT` command. For calls that set the `ACCEL`
-  parameter, the `ACCEL_TO_DECEL` parameter is also set and scaled by
-  `variable_velocity_decel_scale` *(default: `0.5`)*.
+  Klipper's `SET_VELOCITY_LIMIT` command.
 * The `M900` command is implemented by calling Klipper's `SET_PRESSURE_ADVANCE`
   command. The `K` factor is scaled by `variable_pressure_advance_scale`
   *(default: `-1.0`)*. If the scaling value is negative the `M900` command has no

globals.cfg

@@ -91,8 +91,6 @@ variable_start_z_tilt_adjust_at_temp: True
 variable_travel_speed_xy: 3000
 # Z travel speed in (mm/m) for movement macros.
 variable_travel_speed_z: 600
-# Value to scale acceleration by when setting ACCEL_TO_DECEL in M204, etc.
-variable_velocity_decel_scale: 0.5
 ################################################################################
 description: Initializes our globals, including any _km_options overrides.
 gcode:
@@ -124,7 +122,11 @@ gcode:
       "can now be achieved by inserting custom gcode before the "
       "_PRINT_START_PHASE_PURGE line in your slicer's start gcode, or by "
       "wrapping the _PRINT_START_PHASE_PURGE macro. See the Slicer "
-      "Configuration section in the readme for more information."
+      "Configuration section in the readme for more information.",
+    "velocity_decel_scale" :
+      "The velocity_decel_scale option has been removed. Klipper's input "
+      "shaping provides a superior mechanism for improving print quality "
+      "at higher speeds.",
   } %}
   {% set output = [] %}
   {% for s in required_sections %}

velocity.cfg

@@ -12,10 +12,6 @@ gcode:
     {% set accel = (params.X|default(params.Y)|float,
                     params.Y|default(params.X)|float)|min %}
     SET_GCODE_VARIABLE MACRO=m201 VARIABLE=max_accel VALUE="{accel}"
-    {% if accel < printer.toolhead.max_accel %}
-      SET_VELOCITY_LIMIT ACCEL="{accel
-                      }" ACCEL_TO_DECEL="{accel * km.velocity_decel_scale}"
-    {% endif %}
   {% else %}
     SET_VELOCITY_LIMIT
   {% endif %}
@@ -32,27 +28,6 @@ gcode:
     SET_VELOCITY_LIMIT
   {% endif %}
 
-[gcode_macro m204]
-description: Sets maximum accelleration.
-  Usage: M204 [S<accel>] [P<accel> T<accel>]
-rename_existing: M204.6245197
-gcode:
-  {% set km = printer["gcode_macro _km_globals"] %}
-  {% set max_accel = printer["gcode_macro m201"].max_accel %}
-  {% set accel = 0.0 %}
-  {% if 'S' in params %}
-    {% set accel = (params.S|float, max_accel)|min %}
-  {% elif 'P' in params %}
-    {% set accel = (params.P|float, params.T|default(params.P)|float,
-                    max_accel)|min %}
-  {% endif %}
-  {% if accel %}
-    SET_VELOCITY_LIMIT ACCEL="{accel
-                     }" ACCEL_TO_DECEL="{accel * km.velocity_decel_scale}"
-  {% else %}
-    SET_VELOCITY_LIMIT
-  {% endif %}
-
 [gcode_macro m205]
 description: Sets square corner velocity.
   Usage: M203 [X<velocity>] [Y<velocity>]