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delta: Convert delta kinematics to use iterative solver

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-08 21:30:38 -04:00
parent 2511471b0d
commit ca0d0135dc
5 changed files with 60 additions and 188 deletions
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24
klippy/mcu.py
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@ -26,7 +26,8 @@ class MCU_stepper:
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
self._stepcompress_push_const = self._stepcompress_push_delta = None
self._stepcompress_push_const = self._itersolve_gen_steps = None
self._stepper_kinematics = None
self.set_ignore_move(False)
def get_mcu(self):
return self._mcu
@ -40,6 +41,10 @@ class MCU_stepper:
def setup_step_distance(self, step_dist):
self._step_dist = step_dist
self._inv_step_dist = 1. / step_dist
def setup_itersolve(self, sk):
self._stepper_kinematics = sk
self._ffi_lib.itersolve_set_stepcompress(
sk, self._stepqueue, self._step_dist)
def build_config(self):
max_error = self._mcu.get_max_stepper_error()
min_stop_interval = max(0., self._min_stop_interval - max_error)
@ -67,6 +72,9 @@ class MCU_stepper:
def get_step_dist(self):
return self._step_dist
def set_position(self, pos):
if self._stepper_kinematics is not None:
self._ffi_lib.itersolve_set_commanded_pos(
self._stepper_kinematics, pos)
steppos = pos * self._inv_step_dist
self._mcu_position_offset += self._commanded_pos - steppos
self._commanded_pos = steppos
@ -82,10 +90,10 @@ class MCU_stepper:
is not self._ffi_lib.stepcompress_push_const)
if ignore_move:
self._stepcompress_push_const = (lambda *args: 0)
self._stepcompress_push_delta = (lambda *args: 0)
self._itersolve_gen_steps = (lambda *args: 0)
else:
self._stepcompress_push_const = self._ffi_lib.stepcompress_push_const
self._stepcompress_push_delta = self._ffi_lib.stepcompress_push_delta
self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps
return was_ignore
def note_homing_start(self, homing_clock):
ret = self._ffi_lib.stepcompress_set_homing(
@ -127,14 +135,8 @@ class MCU_stepper:
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta(self, print_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._stepcompress_push_delta(
self._stepqueue, print_time, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist,
height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
def step_itersolve(self, cmove):
count = self._itersolve_gen_steps(self._stepper_kinematics, cmove)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count