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stepcompress: Pass delta velocity and acceleration directly to C code

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Update the C delta kinematic code to take velocity and acceleration
directly in step distances and clock ticks.  This simplifies the
mcu.py python code as it only needs to do unit and axis conversion.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 21:59:28 -04:00
parent 98add22891
commit df42b0d1ac
3 changed files with 57 additions and 51 deletions
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12
klippy/chelper.py
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@ -25,13 +25,13 @@ defs_stepcompress = """
int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
, double step_offset, double steps, double start_sv, double accel);
int32_t stepcompress_push_delta_const(struct stepcompress *sc
, double clock_offset, double dist, double start_pos
, double inv_velocity, double step_dist, double height
, double closestxy_d, double closest_height2, double movez_r);
, double clock_offset, double start_pos, double steps, double cruise_sv
, double height, double closestxy_sd
, double closest_height2, double movez_r);
int32_t stepcompress_push_delta_accel(struct stepcompress *sc
, double clock_offset, double dist, double start_pos
, double accel_multiplier, double step_dist, double height
, double closestxy_d, double closest_height2, double movez_r);
, 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 steppersync *steppersync_alloc(struct serialqueue *sq
, struct stepcompress **sc_list, int sc_num, int move_num);