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toolhead: Calculate and store axes_r in move class

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Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r.  This avoids
needing to recalculate the value in other code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-06 08:41:50 -05:00
parent 257058981e
commit 86121ff79e
7 changed files with 30 additions and 30 deletions
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2
klippy/chelper/__init__.py
View file

@ -61,7 +61,7 @@ defs_trapq = """
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
, double axes_d_x, double axes_d_y, double axes_d_z
, double axes_r_x, double axes_r_y, double axes_r_z
, double start_v, double cruise_v, double accel);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);

14
klippy/chelper/trapq.c
View file

@ -25,19 +25,11 @@ void __visible
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
, double axes_d_x, double axes_d_y, double axes_d_z
, double axes_r_x, double axes_r_y, double axes_r_z
, double start_v, double cruise_v, double accel)
{
struct coord axes_r, start_pos;
double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y
+ axes_d_z*axes_d_z);
axes_r.x = axes_d_x * inv_move_d;
axes_r.y = axes_d_y * inv_move_d;
axes_r.z = axes_d_z * inv_move_d;
start_pos.x = start_pos_x;
start_pos.y = start_pos_y;
start_pos.z = start_pos_z;
struct coord start_pos = { x: start_pos_x, y: start_pos_y, z: start_pos_z };
struct coord axes_r = { x: axes_r_x, y: axes_r_y, z: axes_r_z };
if (accel_t) {
struct move *m = move_alloc();
m->print_time = print_time;

2
klippy/chelper/trapq.h
View file

@ -23,7 +23,7 @@ struct move *move_alloc(void);
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
, double axes_d_x, double axes_d_y, double axes_d_z
, double axes_r_x, double axes_r_y, double axes_r_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);