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Introduces buildup_factor and uses distances that are relative to the origin.

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The buildup compensation is not applied yet, it's just prepared for.
This commit is contained in:
Torbjørn Ludvigsen 2025-12-01 15:46:31 +01:00
parent c2935a9a04
commit 971a888fe1
3 changed files with 8 additions and 3 deletions
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2
klippy/chelper/__init__.py
View file

@ -154,7 +154,7 @@ defs_kin_winch = """
struct winch_flex *winch_flex_alloc(void);
void winch_flex_free(struct winch_flex *wf);
void winch_flex_configure(struct winch_flex *wf, int num_anchors,
const double *anchors, double mover_weight, double spring_constant,
const double *anchors, double buildup_factor, double mover_weight, double spring_constant,
const double *min_force,
const double *max_force, const double *guy_wires,
int flex_compensation_algorithm, int ignore_gravity, int ignore_pretension,

5
klippy/chelper/kin_winch.c
View file

@ -32,6 +32,7 @@ struct winch_flex {
int num_anchors;
int enabled;
int flex_compensation_algorithm;
double buildup_factor;
double mover_weight;
double spring_constant;
double min_force[WINCH_MAX_ANCHORS];
@ -615,7 +616,7 @@ calc_position_common(struct winch_stepper *ws, struct move *m, double move_time)
double distances[WINCH_MAX_ANCHORS];
double flex[WINCH_MAX_ANCHORS];
compute_flex(wf, pos.x, pos.y, pos.z, distances, flex);
return dist + flex[ws->index];
return dist - wf->distances_origin[ws->index] + flex[ws->index];
}
static double
@ -661,6 +662,7 @@ void __visible
winch_flex_configure(struct winch_flex *wf,
int num_anchors,
const double *anchors,
double buildup_factor,
double mover_weight,
double spring_constant,
const double *min_force,
@ -678,6 +680,7 @@ winch_flex_configure(struct winch_flex *wf,
if (num_anchors > WINCH_MAX_ANCHORS)
num_anchors = WINCH_MAX_ANCHORS;
wf->num_anchors = num_anchors;
wf->buildup_factor = buildup_factor;
wf->mover_weight = mover_weight;
wf->spring_constant = spring_constant;
wf->flex_compensation_algorithm = flex_compensation_algorithm;

4
klippy/kinematics/winch.py
View file

@ -31,6 +31,7 @@ class WinchFlexHelper:
self.set_active(self.enabled)
def _read_config(self, config):
self.buildup_factor = config.getfloat('winch_buildup_factor', 0., minval=0.)
self.mover_weight = config.getfloat('winch_mover_weight', 0., minval=0.)
self.spring_constant = config.getfloat('winch_spring_constant', 0., minval=0.)
if self.num:
@ -50,6 +51,7 @@ class WinchFlexHelper:
self.min_force = []
self.max_force = []
self.guy_wires = []
self.mechanical_advantage = []
algo_choices = list(self.ALGORITHMS.keys())
self.flex_compensation_algorithm_name = config.getchoice(
'flex_compensation_algorithm', algo_choices, default='qp')
@ -64,7 +66,7 @@ class WinchFlexHelper:
max_c = self.ffi_main.new("double[]", self.max_force)
guy_ptr = self.ffi_main.new("double[]", self.guy_wires)
self.ffi_lib.winch_flex_configure(
self.ptr, self.num, anchors_c, self.mover_weight,
self.ptr, self.num, anchors_c, self.buildup_factor, self.mover_weight,
self.spring_constant, min_c, max_c,
guy_ptr, self.flex_compensation_algorithm,
self.ignore_gravity, self.ignore_pretension, self.mechanical_advantage)