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