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cartesian: Rename step_dist to move_step_d 

Don't use step_dist for the "distance along the line of movement per
step" as it's too similar to the stepper.step_dist variable.  Use the
name "move_step_d" instead.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-10-25 19:30:01 -04:00
parent 6a96e83ea9
commit 2904a0bbac
2 changed files with 12 additions and 12 deletions
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6
klippy/cartesian.py
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@ -109,14 +109,14 @@ class CartKinematics:
steps = -steps
mcu_time, so = self.steppers[i].prep_move(move_time, sdir)
step_dist = move.move_d / steps
move_step_d = move.move_d / steps
step_offset = 0.5
# Acceleration steps
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_time_offset = move.start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel
accel_multiplier = 2.0 * move_step_d * inv_accel
accel_steps = move.accel_r * steps
step_offset = so.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
@ -124,7 +124,7 @@ class CartKinematics:
mcu_time += move.accel_t
# Cruising steps
#t = pos/cruise_v
cruise_multiplier = step_dist * inv_cruise_v
cruise_multiplier = move_step_d * inv_cruise_v
cruise_steps = move.cruise_r * steps
step_offset = so.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)

18
klippy/extruder.py
View File

@ -84,24 +84,24 @@ class PrinterExtruder:
steps = -steps
mcu_time, so = self.stepper.prep_move(move_time, sdir)
step_dist = forward_d / steps
inv_step_dist = 1. / step_dist
move_step_d = forward_d / steps
inv_move_step_d = 1. / move_step_d
step_offset = 0.5
# Acceleration steps
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_time_offset = start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel
accel_steps = accel_d * inv_step_dist
accel_multiplier = 2.0 * move_step_d * inv_accel
accel_steps = accel_d * inv_move_step_d
step_offset = so.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
mcu_time += accel_t
# Cruising steps
#t = pos/cruise_v
cruise_multiplier = step_dist / cruise_v
cruise_steps = cruise_d * inv_step_dist
cruise_multiplier = move_step_d / cruise_v
cruise_steps = cruise_d * inv_move_step_d
step_offset = so.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)
mcu_time += cruise_t
@ -109,7 +109,7 @@ class PrinterExtruder:
#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
decel_time_offset = decel_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
decel_steps = decel_d * inv_step_dist
decel_steps = decel_d * inv_move_step_d
so.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)
@ -123,12 +123,12 @@ class PrinterExtruder:
mcu_time, so = self.stepper.prep_move(
move_time+accel_t+cruise_t+decel_t, 1)
step_dist = retract_d / steps
move_step_d = retract_d / steps
# Acceleration steps
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_time_offset = retract_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel
accel_multiplier = 2.0 * move_step_d * inv_accel
so.step_sqrt(mcu_time - accel_time_offset, steps, 0.5
, accel_sqrt_offset, accel_multiplier)