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trapq: Use separate 'move' entries for accel, cruise, and decel phases

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Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements.  This simplifies the calculation logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-11-05 15:42:19 -05:00
parent 7ca86f1723
commit 076a66f791
5 changed files with 86 additions and 71 deletions
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2
klippy/chelper/__init__.py
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@@ -93,7 +93,7 @@ defs_kin_winch = """
defs_kin_extruder = """
struct stepper_kinematics *extruder_stepper_alloc(void);
void extruder_add_move(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t, double start_pos
, double accel_t, double cruise_t, double decel_t, double start_e_pos
, double start_v, double cruise_v, double accel
, double extra_accel_v, double extra_decel_v);
"""