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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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19
klippy/toolhead.py
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@ -27,9 +27,15 @@ class Move:
end_pos[3])
axes_d[0] = axes_d[1] = axes_d[2] = 0.
self.move_d = move_d = abs(axes_d[3])
inv_move_d = 0.
if move_d:
inv_move_d = 1. / move_d
self.accel = 99999999.9
velocity = speed
self.is_kinematic_move = False
else:
inv_move_d = 1. / move_d
self.axes_r = [d * inv_move_d for d in axes_d]
self.min_move_t = move_d / velocity
# Junction speeds are tracked in velocity squared. The
# delta_v2 is the maximum amount of this squared-velocity that
@ -53,12 +59,11 @@ class Move:
# Allow extruder to calculate its maximum junction
extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
# Find max velocity using "approximated centripetal velocity"
axes_d = self.axes_d
prev_axes_d = prev_move.axes_d
junction_cos_theta = -((axes_d[0] * prev_axes_d[0]
+ axes_d[1] * prev_axes_d[1]
+ axes_d[2] * prev_axes_d[2])
/ (self.move_d * prev_move.move_d))
axes_r = self.axes_r
prev_axes_r = prev_move.axes_r
junction_cos_theta = -(axes_r[0] * prev_axes_r[0]
+ axes_r[1] * prev_axes_r[1]
+ axes_r[2] * prev_axes_r[2])
if junction_cos_theta > 0.999999:
return
junction_cos_theta = max(junction_cos_theta, -0.999999)
@ -302,7 +307,7 @@ class ToolHead:
self.trapq, next_move_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_d[0], move.axes_d[1], move.axes_d[2],
move.axes_r[0], move.axes_r[1], move.axes_r[2],
move.start_v, move.cruise_v, move.accel)
if move.axes_d[3]:
self.extruder.move(next_move_time, move)