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Code Issues Projects Releases Packages Wiki Activity Actions 3

cartesian: Rename CartKinematics class to ToolHead

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-07 14:23:48 -04:00
parent b3e8b430e5
commit 20ae4e5d98
4 changed files with 40 additions and 40 deletions
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26
klippy/cartesian.py
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@ -13,8 +13,8 @@ import lookahead, stepper, homing
StepList = (0, 1, 2, 3)
class Move:
def __init__(self, kin, pos, move_d, axes_d, speed, accel):
self.kin = kin
def __init__(self, toolhead, pos, move_d, axes_d, speed, accel):
self.toolhead = toolhead
self.pos = tuple(pos)
self.axes_d = axes_d
self.move_d = move_d
@ -34,9 +34,9 @@ class Move:
return
junction_cos_theta = max(junction_cos_theta, -0.999999)
sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta));
R = self.kin.junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)
self.junction_start_max = min(
R * self.kin.max_xy_accel, self.junction_max, prev_move.junction_max)
R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)
self.junction_start_max = min(R * self.toolhead.max_xy_accel,
self.junction_max, prev_move.junction_max)
def process(self, junction_start, junction_end):
# Determine accel, cruise, and decel portions of the move
junction_cruise = self.junction_max
@ -64,19 +64,19 @@ class Move:
# , next_move_time, accel_r, cruise_r))
# Calculate step times for the move
next_move_time = self.kin.get_next_move_time()
next_move_time = self.toolhead.get_next_move_time()
for i in StepList:
new_step_pos = int(self.pos[i]*self.kin.steppers[i].inv_step_dist
+ 0.5)
steps = new_step_pos - self.kin.stepper_pos[i]
new_step_pos = int(
self.pos[i]*self.toolhead.steppers[i].inv_step_dist + 0.5)
steps = new_step_pos - self.toolhead.stepper_pos[i]
if not steps:
continue
self.kin.stepper_pos[i] = new_step_pos
self.toolhead.stepper_pos[i] = new_step_pos
sdir = 0
if steps < 0:
sdir = 1
steps = -steps
clock_offset, clock_freq, so = self.kin.steppers[i].prep_move(
clock_offset, clock_freq, so = self.toolhead.steppers[i].prep_move(
sdir, next_move_time)
step_dist = self.move_d / steps
@ -107,11 +107,11 @@ class Move:
so.step_sqrt(
decel_steps, step_offset, clock_offset + decel_clock_offset
, decel_sqrt_offset, -accel_multiplier)
self.kin.update_move_time(accel_t + cruise_t + decel_t)
self.toolhead.update_move_time(accel_t + cruise_t + decel_t)
STALL_TIME = 0.100
class CartKinematics:
class ToolHead:
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor