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mcu: Store the stepper position in the mcu_stepper class

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Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-19 11:34:42 -05:00
parent 7cf914537b
commit 1e1364c3d4
4 changed files with 39 additions and 45 deletions
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15
klippy/cartesian.py
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@ -15,15 +15,15 @@ class CartKinematics:
for n in ['x', 'y', 'z']]
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
self.stepper_pos = [0, 0, 0]
def build_config(self):
for stepper in self.steppers[:2]:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
for stepper in self.steppers:
stepper.build_config()
def set_position(self, newpos):
self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5)
for i in StepList]
for i in StepList:
s = self.steppers[i]
s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
def get_max_speed(self):
max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
max_xy_accel = min(s.max_accel for s in self.steppers[:2])
@ -115,13 +115,12 @@ class CartKinematics:
continue
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
inv_step_dist = self.steppers[i].inv_step_dist
step_offset = step_pos - move.start_pos[i] * inv_step_dist
steps = move.axes_d[i] * inv_step_dist
move_step_d = move.move_d / abs(steps)
step_pos = self.stepper_pos[i]
step_offset = step_pos - move.start_pos[i] * inv_step_dist
# Acceleration steps
accel_multiplier = 2.0 * move_step_d * inv_accel
if move.accel_r:
@ -132,7 +131,6 @@ class CartKinematics:
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
step_pos += count
step_offset += count - accel_steps
mcu_time += move.accel_t
# Cruising steps
@ -142,7 +140,6 @@ class CartKinematics:
cruise_steps = move.cruise_r * steps
count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)
step_pos += count
step_offset += count - cruise_steps
mcu_time += move.cruise_t
# Deceleration steps
@ -154,5 +151,3 @@ class CartKinematics:
count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)
step_pos += count
self.stepper_pos[i] = step_pos