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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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59
klippy/extruder.py
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@ -111,12 +111,11 @@ class PrinterExtruder:
self.stepper.motor_enable(move_time, 1)
self.need_motor_enable = False
axis_d = move.axes_d[3]
extrude_r = abs(axis_d) / move.move_d
inv_accel = 1. / (move.accel * extrude_r)
start_v = move.start_v * extrude_r
cruise_v = move.cruise_v * extrude_r
end_v = move.end_v * extrude_r
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
start_v = move.start_v * axis_r
cruise_v = move.cruise_v * axis_r
end_v = move.end_v * axis_r
accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
accel_d = move.accel_r * axis_d
cruise_d = move.cruise_r * axis_d
@ -156,7 +155,7 @@ class PrinterExtruder:
decel_t = decel_d = 0.
elif end_v < 0.:
# Split decel phase into decel and retraction
retract_t = -end_v * inv_accel
retract_t = -end_v / accel
retract_d = -end_v * 0.5 * retract_t
decel_t -= retract_t
decel_d = decel_v * 0.5 * decel_t
@ -165,56 +164,30 @@ class PrinterExtruder:
decel_d -= extra_decel_d
# Prepare for steps
inv_step_dist = self.stepper.inv_step_dist
step_dist = self.stepper.step_dist
mcu_stepper = self.stepper.mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
step_offset = step_pos - start_pos * inv_step_dist
# Acceleration steps
accel_multiplier = 2.0 * step_dist * inv_accel
if accel_d:
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_time_offset = start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_steps = accel_d * inv_step_dist
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
step_offset += count - accel_steps
mcu_stepper.step_accel(mcu_time, start_pos, accel_d, start_v, accel)
start_pos += accel_d
mcu_time += accel_t
# Cruising steps
if cruise_d:
#t = pos/cruise_v
cruise_multiplier = step_dist / cruise_v
cruise_steps = cruise_d * inv_step_dist
count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)
step_offset += count - cruise_steps
mcu_stepper.step_const(mcu_time, start_pos, cruise_d, cruise_v)
start_pos += cruise_d
mcu_time += cruise_t
# Deceleration steps
if decel_d:
#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
decel_time_offset = decel_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
decel_steps = decel_d * inv_step_dist
count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)
step_offset += count - decel_steps
mcu_stepper.step_accel(mcu_time, start_pos, decel_d, decel_v, -accel)
start_pos += decel_d
mcu_time += decel_t
# Retraction steps
if retract_d:
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_time_offset = retract_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_steps = -retract_d * inv_step_dist
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
mcu_stepper.step_accel(
mcu_time, start_pos, -retract_d, retract_v, accel)
start_pos -= retract_d
self.extrude_pos = start_pos
# Dummy extruder class used when a printer has no extruder at all
class DummyExtruder: