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delta: Make it clear that a "virtual tower" is created

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The delta code calculates a "virtual tower" along the line of
movement.  Rework the variable names and comments to make it clear
that this is occurring.

It is not necessary to pass the start_pos variable to the C code as it
is simple to update the start_pos at the start of each movement.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-06 11:09:08 -04:00
parent 85ed5cef7f
commit b915a2ad7d
4 changed files with 52 additions and 46 deletions
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48
klippy/delta.py
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@ -162,23 +162,24 @@ class DeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def move(self, move_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time)
axes_d = move.axes_d
move_d = movexy_d = move.move_d
movexy_r = 1.
movez_r = 0.
inv_movexy_d = 1. / movexy_d
if not axes_d[0] and not axes_d[1]:
# Z only move
movez_r = axes_d[2] * inv_movexy_d
movexy_d = movexy_r = inv_movexy_d = 0.
elif axes_d[2]:
# XY+Z move
movexy_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2)
movexy_r = movexy_d * inv_movexy_d
movez_r = axes_d[2] * inv_movexy_d
inv_movexy_d = 1. / movexy_d
if self.need_motor_enable:
self._check_motor_enable(move_time)
origx, origy, origz = move.start_pos[:3]
accel = move.accel
@ -189,15 +190,16 @@ class DeltaKinematics:
cruise_end_d = accel_d + move.cruise_r * move_d
for i in StepList:
# Find point on line of movement closest to tower
# Calculate a virtual tower along the line of movement at
# the point closest to this stepper's tower.
towerx_d = self.towers[i][0] - origx
towery_d = self.towers[i][1] - origy
closestxy_d = (towerx_d*axes_d[0] + towery_d*axes_d[1])*inv_movexy_d
tangentxy_d2 = towerx_d**2 + towery_d**2 - closestxy_d**2
closest_height2 = self.arm_length2 - tangentxy_d2
vt_startxy_d = (towerx_d*axes_d[0] + towery_d*axes_d[1])*inv_movexy_d
tangentxy_d2 = towerx_d**2 + towery_d**2 - vt_startxy_d**2
vt_arm_d = math.sqrt(self.arm_length2 - tangentxy_d2)
# Calculate accel/cruise/decel portions of move
reversexy_d = closestxy_d + math.sqrt(closest_height2)*movez_r
reversexy_d = vt_startxy_d + vt_arm_d*movez_r
accel_up_d = cruise_up_d = decel_up_d = 0.
accel_down_d = cruise_down_d = decel_down_d = 0.
if reversexy_d <= 0.:
@ -229,30 +231,36 @@ class DeltaKinematics:
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
if accel_up_d > 0.:
mcu_stepper.step_delta(
mcu_time, 0., accel_up_d, move.start_v, accel,
origz, closestxy_d, closest_height2, movez_r)
mcu_time, accel_up_d, move.start_v, accel,
origz, vt_startxy_d, vt_arm_d, movez_r)
if cruise_up_d > 0.:
mcu_stepper.step_delta(
mcu_time + accel_t, accel_d, cruise_up_d, cruise_v, 0.,
origz, closestxy_d, closest_height2, movez_r)
mcu_time + accel_t, cruise_up_d - accel_d, cruise_v, 0.,
origz + accel_d*movez_r, vt_startxy_d - accel_d*movexy_r,
vt_arm_d, movez_r)
if decel_up_d > 0.:
mcu_stepper.step_delta(
mcu_time + cruise_end_t, cruise_end_d, decel_up_d,
mcu_time + cruise_end_t, decel_up_d - cruise_end_d,
cruise_v, -accel,
origz, closestxy_d, closest_height2, movez_r)
origz + cruise_end_d*movez_r,
vt_startxy_d - cruise_end_d*movexy_r,
vt_arm_d, movez_r)
if accel_down_d > 0.:
mcu_stepper.step_delta(
mcu_time, 0., -accel_down_d, move.start_v, accel,
origz, closestxy_d, closest_height2, movez_r)
mcu_time, -accel_down_d, move.start_v, accel,
origz, vt_startxy_d, vt_arm_d, movez_r)
if cruise_down_d > 0.:
mcu_stepper.step_delta(
mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v, 0.,
origz, closestxy_d, closest_height2, movez_r)
mcu_time + accel_t, accel_d - cruise_down_d, cruise_v, 0.,
origz + accel_d*movez_r, vt_startxy_d - accel_d*movexy_r,
vt_arm_d, movez_r)
if decel_down_d > 0.:
mcu_stepper.step_delta(
mcu_time + cruise_end_t, cruise_end_d, -decel_down_d,
mcu_time + cruise_end_t, cruise_end_d - decel_down_d,
cruise_v, -accel,
origz, closestxy_d, closest_height2, movez_r)
origz + cruise_end_d*movez_r,
vt_startxy_d - cruise_end_d*movexy_r,
vt_arm_d, movez_r)
######################################################################