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mcu: Pass delta velocity and acceleration directly to mcu_stepper

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Rework the parameters of step_delta_const() and step_delta_accel() so
that they take velocity and acceleration directly in millimeters and
seconds.  This simplifies the delta.py kinematic code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 19:03:04 -04:00
parent c4b1a79db2
commit 8c712d959d
2 changed files with 47 additions and 55 deletions
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62
klippy/delta.py
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@ -183,19 +183,13 @@ class DeltaKinematics:
origx, origy, origz = move.start_pos[:3]
accel = move.accel
cruise_v = move.cruise_v
accel_t = move.accel_t
cruise_end_t = accel_t + move.cruise_t
accel_d = move.accel_r * move_d
cruise_end_d = accel_d + move.cruise_r * move_d
inv_cruise_v = 1. / move.cruise_v
inv_accel = 1. / move.accel
accel_time_offset = move.start_v * inv_accel
accel_multiplier = 2.0 * inv_accel
accel_offset = move.start_v**2 * 0.5 * inv_accel
decel_time_offset = move.cruise_v * inv_accel + cruise_end_t
decel_offset = move.cruise_v**2 * 0.5 * inv_accel + cruise_end_d
for i in StepList:
# Find point on line of movement closest to tower
towerx_d = self.towers[i][0] - origx
@ -235,44 +229,32 @@ class DeltaKinematics:
# Generate steps
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
step_dist = self.steppers[i].step_dist
height = step_pos*step_dist - origz
if accel_up_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time - accel_time_offset, accel_up_d,
accel_offset, accel_multiplier, step_dist,
height, closestxy_d, closest_height2, movez_r)
height += count * step_dist
mcu_stepper.step_delta_accel(
mcu_time, 0., accel_up_d, move.start_v, accel,
origz, closestxy_d, closest_height2, movez_r)
if cruise_up_d > 0.:
count = mcu_stepper.step_delta_const(
mcu_time + accel_t, cruise_up_d,
-accel_d, inv_cruise_v, step_dist,
height, closestxy_d, closest_height2, movez_r)
height += count * step_dist
mcu_stepper.step_delta_const(
mcu_time + accel_t, accel_d, cruise_up_d, cruise_v,
origz, closestxy_d, closest_height2, movez_r)
if decel_up_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time + decel_time_offset, decel_up_d,
-decel_offset, -accel_multiplier, step_dist,
height, closestxy_d, closest_height2, movez_r)
height += count * step_dist
mcu_stepper.step_delta_accel(
mcu_time + cruise_end_t, cruise_end_d, decel_up_d,
cruise_v, -accel,
origz, closestxy_d, closest_height2, movez_r)
if accel_down_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time - accel_time_offset, accel_down_d,
accel_offset, accel_multiplier, -step_dist,
height, closestxy_d, closest_height2, movez_r)
height += count * step_dist
mcu_stepper.step_delta_accel(
mcu_time, 0., -accel_down_d, move.start_v, accel,
origz, closestxy_d, closest_height2, movez_r)
if cruise_down_d > 0.:
count = mcu_stepper.step_delta_const(
mcu_time + accel_t, cruise_down_d,
-accel_d, inv_cruise_v, -step_dist,
height, closestxy_d, closest_height2, movez_r)
height += count * step_dist
mcu_stepper.step_delta_const(
mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v,
origz, closestxy_d, closest_height2, movez_r)
if decel_down_d > 0.:
count = mcu_stepper.step_delta_accel(
mcu_time + decel_time_offset, decel_down_d,
-decel_offset, -accel_multiplier, -step_dist,
height, closestxy_d, closest_height2, movez_r)
mcu_stepper.step_delta_accel(
mcu_time + cruise_end_t, cruise_end_d, -decel_down_d,
cruise_v, -accel,
origz, closestxy_d, closest_height2, movez_r)
######################################################################