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stepcompress: Pass constant velocity and acceleration directly to C code

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Update the C 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 19:54:32 -04:00
parent e4153a536f
commit 1d81bf5596
3 changed files with 32 additions and 38 deletions
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10
klippy/chelper.py
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@@ -22,12 +22,10 @@ defs_stepcompress = """
int stepcompress_push(struct stepcompress *sc, double step_clock
, int32_t sdir);
int32_t stepcompress_push_factor(struct stepcompress *sc
, double steps, double step_offset
, double clock_offset, double factor);
int32_t stepcompress_push_sqrt(struct stepcompress *sc
, double steps, double step_offset
, double clock_offset, double sqrt_offset, double factor);
int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
, double step_offset, double steps, double cruise_sv);
int32_t stepcompress_push_accel(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