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mcu: Pass constant velocity and acceleration directly to mcu_stepper

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Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds.  This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 12:31:03 -04:00
parent 47f12f107d
commit c4b1a79db2
5 changed files with 82 additions and 121 deletions
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46
klippy/cartesian.py
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@ -99,46 +99,32 @@ class CartKinematics:
def move(self, move_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time, move)
inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v
for i in StepList:
if not move.axes_d[i]:
axis_d = move.axes_d[i]
if not axis_d:
continue
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
inv_step_dist = self.steppers[i].inv_step_dist
step_offset = step_pos - move.start_pos[i] * inv_step_dist
steps = move.axes_d[i] * inv_step_dist
move_step_d = move.move_d / abs(steps)
start_pos = move.start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
cruise_v = move.cruise_v * axis_r
# Acceleration steps
accel_multiplier = 2.0 * move_step_d * inv_accel
if move.accel_r:
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_time_offset = move.start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_steps = move.accel_r * steps
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
step_offset += count - accel_steps
accel_d = move.accel_r * axis_d
mcu_stepper.step_accel(
mcu_time, start_pos, accel_d, move.start_v * axis_r, accel)
start_pos += accel_d
mcu_time += move.accel_t
# Cruising steps
if move.cruise_r:
#t = pos/cruise_v
cruise_multiplier = move_step_d * inv_cruise_v
cruise_steps = move.cruise_r * steps
count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)
step_offset += count - cruise_steps
cruise_d = move.cruise_r * axis_d
mcu_stepper.step_const(mcu_time, start_pos, cruise_d, cruise_v)
start_pos += cruise_d
mcu_time += move.cruise_t
# Deceleration steps
if move.decel_r:
#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
decel_time_offset = move.cruise_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
decel_steps = move.decel_r * steps
count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)
decel_d = move.decel_r * axis_d
mcu_stepper.step_accel(
mcu_time, start_pos, decel_d, cruise_v, -accel)