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mcu: Pass delta velocity and acceleration directly to mcu_stepper
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>
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c4b1a79db2
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8c712d959d
2 changed files with 47 additions and 55 deletions
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@ -139,31 +139,41 @@ class MCU_stepper:
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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def step_delta_const(self, mcu_time, dist, start_pos
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, inv_velocity, step_dist
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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def step_delta_const(self, mcu_time, start_pos, dist, cruise_v
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, height_base, closestxy_d, closest_height2, movez_r):
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mcu_freq = self._mcu_freq
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step_dist = self._step_dist
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height = self.commanded_position*step_dist - height_base
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if dist < 0:
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dist = -dist
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step_dist = -step_dist
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count = self._ffi_lib.stepcompress_push_delta_const(
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self._stepqueue, clock, dist, start_pos
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, inv_velocity * self._mcu_freq, step_dist
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self._stepqueue, mcu_time * mcu_freq, dist, -start_pos
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, mcu_freq / cruise_v, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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def step_delta_accel(self, mcu_time, dist, start_pos
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, accel_multiplier, step_dist
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel
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, height_base, closestxy_d, closest_height2, movez_r):
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inv_step_dist = self._inv_step_dist
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mcu_freq = self._mcu_freq
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inv_accel = 1. / accel
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time_offset = start_v * inv_accel * mcu_freq
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accel_offset = start_v**2 * 0.5 * inv_accel
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step_dist = self._step_dist
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height = self.commanded_position*step_dist - height_base
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if dist < 0:
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dist = -dist
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step_dist = -step_dist
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clock = mcu_time * mcu_freq - time_offset
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count = self._ffi_lib.stepcompress_push_delta_accel(
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self._stepqueue, clock, dist, start_pos
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, accel_multiplier * mcu_freq2, step_dist
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self._stepqueue, clock, dist, accel_offset - start_pos
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, 2. * inv_accel * mcu_freq**2, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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class MCU_endstop:
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error = error
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