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Winch forward transform test is green

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See ai_docs/test.sh
This commit is contained in:
Torbjørn Ludvigsen 2025-12-01 20:37:04 +01:00
parent 1a7d858e2e
commit 08f68f0343
2 changed files with 22 additions and 5 deletions
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22
ai_docs/solver_calc_position.c
View file

@ -141,6 +141,18 @@ parse_cfg_line(const char *line, struct cfg_state *cfg)
return 1;
}
static double
gear_ratio(const struct cfg_state *cfg)
{
double motor_gear = cfg->motor_gear;
if (motor_gear == 0.)
motor_gear = 1.;
double gear = cfg->spool_gear / motor_gear;
if (gear <= 0.)
gear = 1.;
return gear;
}
static double
rotation_distance_for_axis(const struct cfg_state *cfg, size_t idx)
{
@ -148,8 +160,8 @@ rotation_distance_for_axis(const struct cfg_state *cfg, size_t idx)
double ma = cfg->mech_adv[idx];
if (ma == 0.)
ma = 1.;
double gear = cfg->spool_gear / cfg->motor_gear;
return (2.0 * M_PI * r) / (gear * ma);
// Use circumference/mechanical advantage; gear ratio is handled via steps_per_rotation.
return (2.0 * M_PI * r) / ma;
}
static int
@ -179,11 +191,13 @@ solve_sample(const struct cfg_state *cfg, size_t num, int use_flex,
mech_adv);
winch_flex_set_enabled(wf, use_flex ? 1 : 0);
double gear = gear_ratio(cfg);
double motor_mm[WINCH_MAX_ANCHORS];
for (size_t i = 0; i < num; ++i) {
double rd = rotation_distance_for_axis(cfg, i);
winch_flex_set_spool_params(wf, (int)i, rd, cfg->steps_per_rev);
motor_mm[i] = motor_deg[i] / cfg->steps_per_rev * rd;
double steps_per_rotation = cfg->steps_per_rev * gear;
winch_flex_set_spool_params(wf, (int)i, rd, steps_per_rotation);
motor_mm[i] = motor_deg[i] / cfg->steps_per_rev * (rd / gear);
}
struct timespec t0, t1;

5
klippy/chelper/kin_winch.c
View file

@ -610,7 +610,10 @@ compute_flex(struct winch_flex *wf, double x, double y, double z,
if (spring_length < EPSILON)
spring_length = EPSILON;
double spring_k = wf->spring_constant / spring_length;
flex[i] = -forces[i] / spring_k;
double ma = wf->mechanical_advantage[i];
if (ma <= 0.)
ma = 1.;
flex[i] = -forces[i] / (spring_k * ma);
}
}