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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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44
klippy/mcu.py
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@ -28,6 +28,8 @@ class MCU_stepper:
self._step_pin, pullup, self._invert_step = parse_pin_extras(step_pin)
self._dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
self.commanded_position = 0
self._step_dist = self._inv_step_dist = 1.
self._velocity_factor = self._inv_accel_factor = 0.
self._mcu_position_offset = 0
self._mcu_freq = self._min_stop_interval = 0.
self._reset_cmd = self._get_position_cmd = None
@ -35,8 +37,13 @@ class MCU_stepper:
self.print_to_mcu_time = mcu.print_to_mcu_time
def set_min_stop_interval(self, min_stop_interval):
self._min_stop_interval = min_stop_interval
def set_step_distance(self, step_dist):
self._step_dist = step_dist
self._inv_step_dist = 1. / step_dist
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
self._velocity_factor = 1. / (self._mcu_freq * self._step_dist)
self._inv_accel_factor = self._mcu_freq**2 * self._step_dist
max_error = self._mcu.get_max_stepper_error()
min_stop_interval = max(0., self._min_stop_interval - max_error)
self._mcu.add_config_cmd(
@ -105,24 +112,33 @@ class MCU_stepper:
self.commanded_position += 1
else:
self.commanded_position -= 1
def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2
count = self._ffi_lib.stepcompress_push_sqrt(
self._stepqueue, steps, step_offset, clock
, sqrt_offset * mcu_freq2, factor * mcu_freq2)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
def step_factor(self, mcu_time, steps, step_offset, factor):
clock = mcu_time * self._mcu_freq
def step_const(self, mcu_time, start_pos, dist, cruise_v):
#t = pos/cruise_v
inv_step_dist = self._inv_step_dist
step_offset = self.commanded_position - start_pos * inv_step_dist
steps = dist * inv_step_dist
count = self._ffi_lib.stepcompress_push_factor(
self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
self._stepqueue, steps, step_offset,
mcu_time * self._mcu_freq, 1. / (cruise_v * self._velocity_factor))
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
def step_accel(self, mcu_time, start_pos, dist, start_v, accel):
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
inv_step_dist = self._inv_step_dist
mcu_freq = self._mcu_freq
inv_accel = 1. / accel
time_offset = start_v * inv_accel * mcu_freq
sqrt_offset = time_offset**2
step_offset = self.commanded_position - start_pos * inv_step_dist
steps = dist * inv_step_dist
clock = mcu_time * mcu_freq - time_offset
count = self._ffi_lib.stepcompress_push_sqrt(
self._stepqueue, steps, step_offset, clock,
sqrt_offset, 2. * inv_accel * self._inv_accel_factor)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
def step_delta_const(self, mcu_time, dist, start_pos
, inv_velocity, step_dist
, height, closestxy_d, closest_height2, movez_r):