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trapq: Keep history of recent trapq moves

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Store trapq moves in a separate "history" list after each move is
nominally expired.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-07-19 11:32:16 -04:00
parent e2f483aea3
commit 45c232b2c7
3 changed files with 71 additions and 4 deletions
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9
klippy/chelper/__init__.py
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@ -68,6 +68,13 @@ defs_itersolve = """
"""
defs_trapq = """
struct pull_move {
double print_time, move_t;
double start_v, accel;
double start_x, start_y, start_z;
double x_r, y_r, z_r;
};
void trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
@ -76,6 +83,8 @@ defs_trapq = """
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);
void trapq_finalize_moves(struct trapq *tq, double print_time);
int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
, double start_time, double end_time);
"""
defs_kin_cartesian = """