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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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36
klippy/delta.py
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@ -28,7 +28,7 @@ class DeltaKinematics:
(cos(210.)*radius, sin(210.)*radius),
(cos(330.)*radius, sin(330.)*radius),
(cos(90.)*radius, sin(90.)*radius)]
self.stepper_pos = self.cartesian_to_actuator([0., 0., 0.])
self.set_position([0., 0., 0.])
def build_config(self):
for stepper in self.steppers:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
@ -77,11 +77,13 @@ class DeltaKinematics:
return matrix_sub(circumcenter, matrix_mul(normal, dist))
def set_position(self, newpos):
self.stepper_pos = self.cartesian_to_actuator(newpos)
pos = self.cartesian_to_actuator(newpos)
for i in StepList:
self.steppers[i].mcu_stepper.set_position(pos[i])
def get_homed_position(self, homing_state):
pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset())
* self.steppers[i].step_dist
for i in StepList]
pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
* s.step_dist
for s in self.steppers]
return self.actuator_to_cartesian(pos)
def home(self, homing_state):
# All axes are homed simultaneously
@ -138,13 +140,12 @@ class DeltaKinematics:
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 - height * inv_step_dist
step_dist = self.steppers[i].step_dist
steps = move.axes_d[2] * inv_step_dist
step_pos = self.stepper_pos[i]
step_offset = step_pos - height * inv_step_dist
# Acceleration steps
accel_multiplier = 2.0 * step_dist * inv_accel
if move.accel_r:
@ -155,7 +156,6 @@ class DeltaKinematics:
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
@ -165,7 +165,6 @@ class DeltaKinematics:
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
@ -177,8 +176,6 @@ class DeltaKinematics:
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
def move(self, move_time, move):
axes_d = move.axes_d
if not axes_d[0] and not axes_d[1]:
@ -250,54 +247,47 @@ class DeltaKinematics:
decel_down_d = move_d
# Generate steps
inv_step_dist = self.steppers[i].inv_step_dist
step_dist = self.steppers[i].step_dist
step_pos = self.stepper_pos[i]
height = step_pos*step_dist - closestz
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_dist = self.steppers[i].step_dist
height = step_pos*step_dist - closestz
if accel_up_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time - accel_time_offset, closest_d - accel_up_d,
step_dist, closest_d + accel_offset,
closest_height2, height, movez_r, accel_multiplier)
step_pos += count
height += count * step_dist
if cruise_up_d > 0.:
count = mcu_stepper.step_delta_const(
mcu_time + accel_t, closest_d - cruise_up_d,
step_dist, closest_d - accel_d,
closest_height2, height, movez_r, inv_cruise_v)
step_pos += count
height += count * step_dist
if decel_up_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time + decel_time_offset, closest_d - decel_up_d,
step_dist, closest_d - decel_offset,
closest_height2, height, movez_r, -accel_multiplier)
step_pos += count
height += count * step_dist
if accel_down_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time - accel_time_offset, closest_d - accel_down_d,
-step_dist, closest_d + accel_offset,
closest_height2, height, movez_r, accel_multiplier)
step_pos += count
height += count * step_dist
if cruise_down_d > 0.:
count = mcu_stepper.step_delta_const(
mcu_time + accel_t, closest_d - cruise_down_d,
-step_dist, closest_d - accel_d,
closest_height2, height, movez_r, inv_cruise_v)
step_pos += count
height += count * step_dist
if decel_down_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time + decel_time_offset, closest_d - decel_down_d,
-step_dist, closest_d - decel_offset,
closest_height2, height, movez_r, -accel_multiplier)
step_pos += count
self.stepper_pos[i] = step_pos
######################################################################