h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

mcu: convert stepper, endstop, and digital_out to take mcu_time

Browse Source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-08-24 16:42:25 -04:00
parent 11ecac626d
commit e52113a319
5 changed files with 79 additions and 86 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
klippy/cartesian.py
View File

@@ -80,34 +80,33 @@ class CartKinematics:
if steps < 0:
sdir = 1
steps = -steps
clock_offset, clock_freq, so = self.steppers[i].prep_move(
sdir, move_time)
mcu_time, so = self.steppers[i].prep_move(move_time, sdir)
step_dist = move.move_d / steps
step_offset = 0.5
# Acceleration steps
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_clock_offset = move.start_v * inv_accel * clock_freq
accel_sqrt_offset = accel_clock_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2
accel_time_offset = move.start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel
accel_steps = move.accel_r * steps
step_offset = so.step_sqrt(
accel_steps, step_offset, clock_offset - accel_clock_offset
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
clock_offset += move.accel_t * clock_freq
mcu_time += move.accel_t
# Cruising steps
#t = pos/cruise_v
cruise_multiplier = step_dist * inv_cruise_v * clock_freq
cruise_multiplier = step_dist * inv_cruise_v
cruise_steps = move.cruise_r * steps
step_offset = so.step_factor(
cruise_steps, step_offset, clock_offset, cruise_multiplier)
clock_offset += move.cruise_t * clock_freq
mcu_time, cruise_steps, step_offset, cruise_multiplier)
mcu_time += move.cruise_t
# Deceleration steps
#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
decel_clock_offset = move.cruise_v * inv_accel * clock_freq
decel_sqrt_offset = decel_clock_offset**2
decel_time_offset = move.cruise_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
decel_steps = move.decel_r * steps
so.step_sqrt(
decel_steps, step_offset, clock_offset + decel_clock_offset
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)