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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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40
klippy/mcu.py
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@ -139,31 +139,41 @@ class MCU_stepper:
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
def step_delta_const(self, mcu_time, dist, start_pos
, inv_velocity, step_dist
, height, closestxy_d, closest_height2, movez_r):
clock = mcu_time * self._mcu_freq
def step_delta_const(self, mcu_time, start_pos, dist, cruise_v
, height_base, closestxy_d, closest_height2, movez_r):
mcu_freq = self._mcu_freq
step_dist = self._step_dist
height = self.commanded_position*step_dist - height_base
if dist < 0:
dist = -dist
step_dist = -step_dist
count = self._ffi_lib.stepcompress_push_delta_const(
self._stepqueue, clock, dist, start_pos
, inv_velocity * self._mcu_freq, step_dist
self._stepqueue, mcu_time * mcu_freq, dist, -start_pos
, mcu_freq / cruise_v, step_dist
, height, closestxy_d, closest_height2, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
def step_delta_accel(self, mcu_time, dist, start_pos
, accel_multiplier, step_dist
, height, closestxy_d, closest_height2, movez_r):
clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2
def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel
, height_base, closestxy_d, closest_height2, movez_r):
inv_step_dist = self._inv_step_dist
mcu_freq = self._mcu_freq
inv_accel = 1. / accel
time_offset = start_v * inv_accel * mcu_freq
accel_offset = start_v**2 * 0.5 * inv_accel
step_dist = self._step_dist
height = self.commanded_position*step_dist - height_base
if dist < 0:
dist = -dist
step_dist = -step_dist
clock = mcu_time * mcu_freq - time_offset
count = self._ffi_lib.stepcompress_push_delta_accel(
self._stepqueue, clock, dist, start_pos
, accel_multiplier * mcu_freq2, step_dist
self._stepqueue, clock, dist, accel_offset - start_pos
, 2. * inv_accel * mcu_freq**2, step_dist
, height, closestxy_d, closest_height2, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
class MCU_endstop:
error = error