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stepcompress: Merge stepcompress_delta_const and stepcompress_delta_accel

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It's not necessary to have separate C delta kinematic functions for
constant acceleration and constant velocity as constant velocity can
be obtained by using a constant acceleration of zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-07 10:49:14 -04:00
parent df42b0d1ac
commit 85ed5cef7f
4 changed files with 74 additions and 126 deletions
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19
klippy/mcu.py
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@ -128,24 +128,11 @@ class MCU_stepper:
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta_const(self, mcu_time, start_pos, dist, cruise_v
, height_base, closestxy_d, closest_height2, movez_r):
def step_delta(self, mcu_time, start_pos, dist, start_v, accel
, height_base, closestxy_d, closest_height2, movez_r):
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta_const(
self._stepqueue, mcu_time * self._mcu_freq,
-start_pos * inv_step_dist, dist * inv_step_dist,
cruise_v * self._velocity_factor,
height, closestxy_d * inv_step_dist,
closest_height2 * inv_step_dist**2, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel
, height_base, closestxy_d, closest_height2, movez_r):
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta_accel(
count = self._ffi_lib.stepcompress_push_delta(
self._stepqueue, mcu_time * self._mcu_freq,
-start_pos * inv_step_dist, dist * inv_step_dist,
start_v * self._velocity_factor, accel * self._accel_factor,