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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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35
klippy/mcu.py
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@ -130,36 +130,27 @@ class MCU_stepper:
self._commanded_pos += count
def step_delta_const(self, mcu_time, start_pos, dist, cruise_v
, height_base, closestxy_d, closest_height2, movez_r):
mcu_freq = self._mcu_freq
step_dist = self._step_dist
height = self._commanded_pos*step_dist - height_base
if dist < 0:
dist = -dist
step_dist = -step_dist
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta_const(
self._stepqueue, mcu_time * mcu_freq, dist, -start_pos
, mcu_freq / cruise_v, step_dist
, height, closestxy_d, closest_height2, movez_r)
self._stepqueue, mcu_time * self._mcu_freq,
-start_pos * inv_step_dist, dist * inv_step_dist,
cruise_v * self._velocity_factor,
height, closestxy_d * inv_step_dist,
closest_height2 * inv_step_dist**2, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel
, height_base, closestxy_d, closest_height2, movez_r):
inv_step_dist = self._inv_step_dist
mcu_freq = self._mcu_freq
inv_accel = 1. / accel
time_offset = start_v * inv_accel * mcu_freq
accel_offset = start_v**2 * 0.5 * inv_accel
step_dist = self._step_dist
height = self._commanded_pos*step_dist - height_base
if dist < 0:
dist = -dist
step_dist = -step_dist
clock = mcu_time * mcu_freq - time_offset
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta_accel(
self._stepqueue, clock, dist, accel_offset - start_pos
, 2. * inv_accel * mcu_freq**2, step_dist
, height, closestxy_d, closest_height2, movez_r)
self._stepqueue, mcu_time * self._mcu_freq,
-start_pos * inv_step_dist, dist * inv_step_dist,
start_v * self._velocity_factor, accel * self._accel_factor,
height, closestxy_d * inv_step_dist,
closest_height2 * inv_step_dist**2, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count