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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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10
klippy/mcu.py
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@ -128,16 +128,14 @@ class MCU_stepper:
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta(self, mcu_time, start_pos, dist, start_v, accel
, height_base, closestxy_d, closest_height2, movez_r):
def step_delta(self, mcu_time, dist, start_v, accel
, height_base, startxy_d, arm_d, movez_r):
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta(
self._stepqueue, mcu_time * self._mcu_freq,
-start_pos * inv_step_dist, dist * inv_step_dist,
self._stepqueue, mcu_time * self._mcu_freq, dist * inv_step_dist,
start_v * self._velocity_factor, accel * self._accel_factor,
height, closestxy_d * inv_step_dist,
closest_height2 * inv_step_dist**2, movez_r)
height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count