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stepper: Store max_velocity/max_accel instead of max_step_velocity/accel

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All users of max_step_velocity and max_step_accel end up multiplying
by step_dist anyway, so it's easier to store max_velocity and
max_accel.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-07 16:57:25 -04:00
parent 5829aa8bd7
commit 4a527a46ce
2 changed files with 11 additions and 18 deletions
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9
klippy/stepper.py
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@ -13,10 +13,8 @@ class PrinterStepper:
self.step_dist = config.getfloat('step_distance')
self.inv_step_dist = 1. / self.step_dist
max_velocity = config.getfloat('max_velocity')
self.max_step_velocity = max_velocity * self.inv_step_dist
max_accel = config.getfloat('max_accel')
self.max_step_accel = max_accel * self.inv_step_dist
self.max_velocity = config.getfloat('max_velocity')
self.max_accel = config.getfloat('max_accel')
self.homing_speed = config.getfloat('homing_speed', 5.0)
self.homing_positive_dir = config.getboolean(
@ -36,7 +34,8 @@ class PrinterStepper:
step_pin = self.config.get('step_pin')
dir_pin = self.config.get('dir_pin')
jc = 0.005 # XXX
min_stop_interval = int((math.sqrt(1./self.max_step_accel + jc**2) - jc)
inv_max_step_accel = self.step_dist / self.max_accel
min_stop_interval = int((math.sqrt(inv_max_step_accel + jc**2) - jc)
* self.clock_ticks) - max_error
min_stop_interval = max(0, min_stop_interval)
mcu = self.printer.mcu