delta: Do reverse direction checking in C code

Calculate where a tower must reverse direction during a move in the C
code instead of the delta.py kinematic code.  This simplifies the
python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-07 11:47:24 -04:00
parent b915a2ad7d
commit 33b809714f
2 changed files with 57 additions and 67 deletions

View File

@ -1,6 +1,6 @@
# Code for handling the kinematics of linear delta robots
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
@ -165,14 +165,14 @@ class DeltaKinematics:
if self.need_motor_enable:
self._check_motor_enable(move_time)
axes_d = move.axes_d
move_d = movexy_d = move.move_d
move_d = move.move_d
movexy_r = 1.
movez_r = 0.
inv_movexy_d = 1. / movexy_d
inv_movexy_d = 1. / move_d
if not axes_d[0] and not axes_d[1]:
# Z only move
movez_r = axes_d[2] * inv_movexy_d
movexy_d = movexy_r = inv_movexy_d = 0.
movexy_r = inv_movexy_d = 0.
elif axes_d[2]:
# XY+Z move
movexy_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2)
@ -184,10 +184,9 @@ class DeltaKinematics:
accel = move.accel
cruise_v = move.cruise_v
accel_t = move.accel_t
cruise_end_t = accel_t + move.cruise_t
accel_d = move.accel_r * move_d
cruise_end_d = accel_d + move.cruise_r * move_d
cruise_d = move.cruise_r * move_d
decel_d = move.decel_r * move_d
for i in StepList:
# Calculate a virtual tower along the line of movement at
@ -197,70 +196,29 @@ class DeltaKinematics:
vt_startxy_d = (towerx_d*axes_d[0] + towery_d*axes_d[1])*inv_movexy_d
tangentxy_d2 = towerx_d**2 + towery_d**2 - vt_startxy_d**2
vt_arm_d = math.sqrt(self.arm_length2 - tangentxy_d2)
# Calculate accel/cruise/decel portions of move
reversexy_d = vt_startxy_d + vt_arm_d*movez_r
accel_up_d = cruise_up_d = decel_up_d = 0.
accel_down_d = cruise_down_d = decel_down_d = 0.
if reversexy_d <= 0.:
accel_down_d = accel_d
cruise_down_d = cruise_end_d
decel_down_d = move_d
elif reversexy_d >= movexy_d:
accel_up_d = accel_d
cruise_up_d = cruise_end_d
decel_up_d = move_d
elif reversexy_d < accel_d * movexy_r:
accel_up_d = reversexy_d * move_d * inv_movexy_d
accel_down_d = accel_d
cruise_down_d = cruise_end_d
decel_down_d = move_d
elif reversexy_d < cruise_end_d * movexy_r:
accel_up_d = accel_d
cruise_up_d = reversexy_d * move_d * inv_movexy_d
cruise_down_d = cruise_end_d
decel_down_d = move_d
else:
accel_up_d = accel_d
cruise_up_d = cruise_end_d
decel_up_d = reversexy_d * move_d * inv_movexy_d
decel_down_d = move_d
vt_startz = origz
# Generate steps
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
if accel_up_d > 0.:
if accel_d:
mcu_stepper.step_delta(
mcu_time, accel_up_d, move.start_v, accel,
origz, vt_startxy_d, vt_arm_d, movez_r)
if cruise_up_d > 0.:
mcu_time, accel_d, move.start_v, accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += accel_d * movez_r
vt_startxy_d -= accel_d * movexy_r
mcu_time += move.accel_t
if cruise_d:
mcu_stepper.step_delta(
mcu_time + accel_t, cruise_up_d - accel_d, cruise_v, 0.,
origz + accel_d*movez_r, vt_startxy_d - accel_d*movexy_r,
vt_arm_d, movez_r)
if decel_up_d > 0.:
mcu_time, cruise_d, cruise_v, 0.,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += cruise_d * movez_r
vt_startxy_d -= cruise_d * movexy_r
mcu_time += move.cruise_t
if decel_d:
mcu_stepper.step_delta(
mcu_time + cruise_end_t, decel_up_d - cruise_end_d,
cruise_v, -accel,
origz + cruise_end_d*movez_r,
vt_startxy_d - cruise_end_d*movexy_r,
vt_arm_d, movez_r)
if accel_down_d > 0.:
mcu_stepper.step_delta(
mcu_time, -accel_down_d, move.start_v, accel,
origz, vt_startxy_d, vt_arm_d, movez_r)
if cruise_down_d > 0.:
mcu_stepper.step_delta(
mcu_time + accel_t, accel_d - cruise_down_d, cruise_v, 0.,
origz + accel_d*movez_r, vt_startxy_d - accel_d*movexy_r,
vt_arm_d, movez_r)
if decel_down_d > 0.:
mcu_stepper.step_delta(
mcu_time + cruise_end_t, cruise_end_d - decel_down_d,
cruise_v, -accel,
origz + cruise_end_d*movez_r,
vt_startxy_d - cruise_end_d*movexy_r,
vt_arm_d, movez_r)
mcu_time, decel_d, cruise_v, -accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
######################################################################

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@ -1,6 +1,6 @@
// Stepper pulse schedule compression
//
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
//
@ -531,8 +531,8 @@ stepcompress_push_const(
}
// Schedule steps using delta kinematics
int32_t
stepcompress_push_delta(
static int32_t
_stepcompress_push_delta(
struct stepcompress *sc, double clock_offset, double move_sd
, double start_sv, double accel
, double height, double startxy_sd, double arm_sd, double movez_r)
@ -627,6 +627,38 @@ stepcompress_push_delta(
return res;
}
int32_t
stepcompress_push_delta(
struct stepcompress *sc, double clock_offset, double move_sd
, double start_sv, double accel
, double height, double startxy_sd, double arm_sd, double movez_r)
{
double reversexy_sd = startxy_sd + arm_sd*movez_r;
if (reversexy_sd <= 0.)
// All steps are in down direction
return _stepcompress_push_delta(
sc, clock_offset, -move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
if (reversexy_sd >= move_sd * movexy_r)
// All steps are in up direction
return _stepcompress_push_delta(
sc, clock_offset, move_sd, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
// Steps in both up and down direction
int res1 = _stepcompress_push_delta(
sc, clock_offset, reversexy_sd / movexy_r, start_sv, accel
, height, startxy_sd, arm_sd, movez_r);
if (res1 == ERROR_RET)
return res1;
int res2 = _stepcompress_push_delta(
sc, clock_offset, -move_sd, start_sv, accel
, height + res1, startxy_sd, arm_sd, movez_r);
if (res2 == ERROR_RET)
return res2;
return res1 + res2;
}
/****************************************************************
* Step compress synchronization