3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-23 22:54:10 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

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

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

35
klippy/stepcompress.c
View file

@ -533,25 +533,26 @@ stepcompress_push_const(
// Schedule steps using delta kinematics
int32_t
stepcompress_push_delta(
struct stepcompress *sc, double clock_offset, double start_pos
, double steps, double start_sv, double accel
, double height, double closestxy_sd, double closest_height2, double movez_r)
struct stepcompress *sc, double clock_offset, double move_sd
, double start_sv, double accel
, double height, double startxy_sd, double arm_sd, double movez_r)
{
// Calculate number of steps to take
double step_dist = 1.;
if (steps < 0) {
if (move_sd < 0) {
step_dist = -1.;
steps = -steps;
move_sd = -move_sd;
}
double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
double reldist = closestxy_sd - movexy_r*steps;
double end_height = safe_sqrt(closest_height2 - reldist*reldist);
int count = (end_height - height + movez_r*steps) * step_dist + .5;
double arm_sd2 = arm_sd * arm_sd;
double endxy_sd = startxy_sd - movexy_r*move_sd;
double end_height = safe_sqrt(arm_sd2 - endxy_sd*endxy_sd);
int count = (end_height + movez_r*move_sd - height) * step_dist + .5;
if (count <= 0 || count > 10000000) {
if (count) {
errorf("push_delta invalid count %d %d %f %f %f %f %f %f %f %f %f"
, sc->oid, count, clock_offset, start_pos, steps, start_sv
, accel, height, closestxy_sd, closest_height2, movez_r);
errorf("push_delta invalid count %d %d %f %f %f %f %f %f %f %f"
, sc->oid, count, clock_offset, move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
return ERROR_RET;
}
return 0;
@ -563,7 +564,7 @@ stepcompress_push_delta(
// Calculate each step time
clock_offset += 0.5;
start_pos += movexy_r*closestxy_sd;
double start_pos = movexy_r*startxy_sd;
height += .5 * step_dist;
uint64_t *qn = sc->queue_next, *qend = sc->queue_end;
if (!accel) {
@ -575,7 +576,7 @@ stepcompress_push_delta(
int ret = check_expand(sc, &qn, &qend);
if (ret)
return ret;
double v = safe_sqrt(closest_height2 - height*height);
double v = safe_sqrt(arm_sd2 - height*height);
double pos = start_pos + (step_dist > 0. ? -v : v);
*qn++ = clock_offset + pos * inv_cruise_sv;
height += step_dist;
@ -597,8 +598,8 @@ stepcompress_push_delta(
int ret = check_expand(sc, &qn, &qend);
if (ret)
return ret;
double relheight = movexy_r*height - movez_r*closestxy_sd;
double v = safe_sqrt(closest_height2 - relheight*relheight);
double relheight = movexy_r*height - movez_r*startxy_sd;
double v = safe_sqrt(arm_sd2 - relheight*relheight);
double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
*qn++ = clock_offset + pos * inv_cruise_sv;
height += step_dist;
@ -614,8 +615,8 @@ stepcompress_push_delta(
int ret = check_expand(sc, &qn, &qend);
if (ret)
return ret;
double relheight = movexy_r*height - movez_r*closestxy_sd;
double v = safe_sqrt(closest_height2 - relheight*relheight);
double relheight = movexy_r*height - movez_r*startxy_sd;
double v = safe_sqrt(arm_sd2 - relheight*relheight);
double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
v = safe_sqrt(pos * accel_multiplier);
*qn++ = clock_offset + (accel_multiplier >= 0. ? v : -v);