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Winch flex compensation: Prints optimal pretension at the origin

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Torbjørn Ludvigsen 2025-10-12 14:42:59 +02:00
parent c819db6be2
commit 5919fd2e10
1 changed files with 16 additions and 1 deletions
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17
klippy/chelper/kin_winch.c
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@ -11,6 +11,7 @@
#include <stdio.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "pyhelper.h" // errorf
#include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
@ -425,14 +426,28 @@ recalc_origin(struct winch_flex *wf)
else
return;
double pretension[WINCH_MAX_ANCHORS] = {0.};
for (int i = 0; i < num; ++i) {
double spring_length = wf->distances_origin[i] + wf->guy_wires[i];
if (spring_length < EPSILON)
spring_length = EPSILON;
double spring_k = wf->spring_constant / spring_length;
double relaxed = wf->distances_origin[i] - forces[i] / spring_k;
double tension = forces[i] / spring_k;
pretension[i] = tension;
double relaxed = wf->distances_origin[i] - tension;
wf->relaxed_origin[i] = relaxed;
}
if (wf->flex_enabled && num > 0) {
char msg[256];
int len = snprintf(msg, sizeof(msg), "winch pretension at origin:");
for (int i = 0; i < num && len > 0 && len < (int)sizeof(msg); ++i) {
len += snprintf(msg + len, sizeof(msg) - len,
" %d:%.6f", i, pretension[i]);
if (len >= (int)sizeof(msg))
break;
}
errorf("%s", msg);
}
}
void __visible