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delta: Do reverse direction checking in C code

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Calculate where a tower must reverse direction during a move in the C
code instead of the delta.py kinematic code.  This simplifies the
python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-07 11:47:24 -04:00
parent b915a2ad7d
commit 33b809714f
2 changed files with 57 additions and 67 deletions
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38
klippy/stepcompress.c
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@ -1,6 +1,6 @@
// Stepper pulse schedule compression
//
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
//
@ -531,8 +531,8 @@ stepcompress_push_const(
}
// Schedule steps using delta kinematics
int32_t
stepcompress_push_delta(
static int32_t
_stepcompress_push_delta(
struct stepcompress *sc, double clock_offset, double move_sd
, double start_sv, double accel
, double height, double startxy_sd, double arm_sd, double movez_r)
@ -627,6 +627,38 @@ stepcompress_push_delta(
return res;
}
int32_t
stepcompress_push_delta(
struct stepcompress *sc, double clock_offset, double move_sd
, double start_sv, double accel
, double height, double startxy_sd, double arm_sd, double movez_r)
{
double reversexy_sd = startxy_sd + arm_sd*movez_r;
if (reversexy_sd <= 0.)
// All steps are in down direction
return _stepcompress_push_delta(
sc, clock_offset, -move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
if (reversexy_sd >= move_sd * movexy_r)
// All steps are in up direction
return _stepcompress_push_delta(
sc, clock_offset, move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
// Steps in both up and down direction
int res1 = _stepcompress_push_delta(
sc, clock_offset, reversexy_sd / movexy_r, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
if (res1 == ERROR_RET)
return res1;
int res2 = _stepcompress_push_delta(
sc, clock_offset, -move_sd, start_sv, accel
, height + res1, startxy_sd, arm_sd, movez_r);
if (res2 == ERROR_RET)
return res2;
return res1 + res2;
}
/****************************************************************
* Step compress synchronization