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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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13
klippy/extras/force_move.py
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@ -11,16 +11,19 @@ STALL_TIME = 0.100
# Calculate a move's accel_t, cruise_t, and cruise_v
def calc_move_time(dist, speed, accel):
dist = abs(dist)
axis_r = 1.
if dist < 0.:
axis_r = -1.
dist = -dist
if not accel or not dist:
return 0., dist / speed, speed
return axis_r, 0., dist / speed, speed
max_cruise_v2 = dist * accel
if max_cruise_v2 < speed**2:
speed = math.sqrt(max_cruise_v2)
accel_t = speed / accel
accel_decel_d = accel_t * speed
cruise_t = (dist - accel_decel_d) / speed
return accel_t, cruise_t, speed
return axis_r, accel_t, cruise_t, speed
class ForceMove:
def __init__(self, config):
@ -67,9 +70,9 @@ class ForceMove:
print_time = toolhead.get_last_move_time()
prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
stepper.set_position((0., 0., 0.))
accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
axis_r, accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
print_time += accel_t + cruise_t + accel_t
stepper.generate_steps(print_time)
self.trapq_free_moves(self.trapq, print_time)