mcu: Don't export the commanded_position variable from mcu_stepper
Now that the kinematic classes call the mcu_stepper with millimeters and seconds it is no longer necessary for them to directly access the stepper's position in absolute steps. Rename mcu_stepper.commanded_position to mcu_stepper._commanded_pos to make clear it is not a variable intended to be externally accessed. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
8c712d959d
commit
79f31238b0
|
|
@ -118,7 +118,7 @@ class DeltaKinematics:
|
|||
homing_state.home(list(coord), homepos, self.steppers
|
||||
, s.homing_speed/2.0, second_home=True)
|
||||
# Set final homed position
|
||||
coord = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
|
||||
coord = [(s.mcu_stepper.get_commanded_position() + s.get_homed_offset())
|
||||
* s.step_dist
|
||||
for s in self.steppers]
|
||||
homing_state.set_homed_position(self._actuator_to_cartesian(coord))
|
||||
|
|
|
|||
|
|
@ -27,7 +27,7 @@ class MCU_stepper:
|
|||
self._oid = mcu.create_oid(self)
|
||||
self._step_pin, pullup, self._invert_step = parse_pin_extras(step_pin)
|
||||
self._dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
|
||||
self.commanded_position = 0
|
||||
self._commanded_pos = 0
|
||||
self._step_dist = self._inv_step_dist = 1.
|
||||
self._velocity_factor = self._inv_accel_factor = 0.
|
||||
self._mcu_position_offset = 0
|
||||
|
|
@ -69,10 +69,12 @@ class MCU_stepper:
|
|||
def get_oid(self):
|
||||
return self._oid
|
||||
def set_position(self, pos):
|
||||
self._mcu_position_offset += self.commanded_position - pos
|
||||
self.commanded_position = pos
|
||||
self._mcu_position_offset += self._commanded_pos - pos
|
||||
self._commanded_pos = pos
|
||||
def get_commanded_position(self):
|
||||
return self._commanded_pos
|
||||
def get_mcu_position(self):
|
||||
return self.commanded_position + self._mcu_position_offset
|
||||
return self._commanded_pos + self._mcu_position_offset
|
||||
def note_homing_start(self, homing_clock):
|
||||
ret = self._ffi_lib.stepcompress_set_homing(
|
||||
self._stepqueue, homing_clock)
|
||||
|
|
@ -92,7 +94,7 @@ class MCU_stepper:
|
|||
pos = params['pos']
|
||||
if self._invert_dir:
|
||||
pos = -pos
|
||||
self._mcu_position_offset = pos - self.commanded_position
|
||||
self._mcu_position_offset = pos - self._commanded_pos
|
||||
def reset_step_clock(self, mcu_time):
|
||||
clock = int(mcu_time * self._mcu_freq)
|
||||
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
|
||||
|
|
@ -109,20 +111,20 @@ class MCU_stepper:
|
|||
if ret:
|
||||
raise error("Internal error in stepcompress")
|
||||
if sdir:
|
||||
self.commanded_position += 1
|
||||
self._commanded_pos += 1
|
||||
else:
|
||||
self.commanded_position -= 1
|
||||
self._commanded_pos -= 1
|
||||
def step_const(self, mcu_time, start_pos, dist, cruise_v):
|
||||
#t = pos/cruise_v
|
||||
inv_step_dist = self._inv_step_dist
|
||||
step_offset = self.commanded_position - start_pos * inv_step_dist
|
||||
step_offset = self._commanded_pos - start_pos * inv_step_dist
|
||||
steps = dist * inv_step_dist
|
||||
count = self._ffi_lib.stepcompress_push_factor(
|
||||
self._stepqueue, steps, step_offset,
|
||||
mcu_time * self._mcu_freq, 1. / (cruise_v * self._velocity_factor))
|
||||
if count == STEPCOMPRESS_ERROR_RET:
|
||||
raise error("Internal error in stepcompress")
|
||||
self.commanded_position += count
|
||||
self._commanded_pos += count
|
||||
def step_accel(self, mcu_time, start_pos, dist, start_v, accel):
|
||||
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
|
||||
inv_step_dist = self._inv_step_dist
|
||||
|
|
@ -130,7 +132,7 @@ class MCU_stepper:
|
|||
inv_accel = 1. / accel
|
||||
time_offset = start_v * inv_accel * mcu_freq
|
||||
sqrt_offset = time_offset**2
|
||||
step_offset = self.commanded_position - start_pos * inv_step_dist
|
||||
step_offset = self._commanded_pos - start_pos * inv_step_dist
|
||||
steps = dist * inv_step_dist
|
||||
clock = mcu_time * mcu_freq - time_offset
|
||||
count = self._ffi_lib.stepcompress_push_sqrt(
|
||||
|
|
@ -138,12 +140,12 @@ class MCU_stepper:
|
|||
sqrt_offset, 2. * inv_accel * self._inv_accel_factor)
|
||||
if count == STEPCOMPRESS_ERROR_RET:
|
||||
raise error("Internal error in stepcompress")
|
||||
self.commanded_position += count
|
||||
self._commanded_pos += count
|
||||
def step_delta_const(self, mcu_time, start_pos, dist, cruise_v
|
||||
, height_base, closestxy_d, closest_height2, movez_r):
|
||||
mcu_freq = self._mcu_freq
|
||||
step_dist = self._step_dist
|
||||
height = self.commanded_position*step_dist - height_base
|
||||
height = self._commanded_pos*step_dist - height_base
|
||||
if dist < 0:
|
||||
dist = -dist
|
||||
step_dist = -step_dist
|
||||
|
|
@ -153,7 +155,7 @@ class MCU_stepper:
|
|||
, height, closestxy_d, closest_height2, movez_r)
|
||||
if count == STEPCOMPRESS_ERROR_RET:
|
||||
raise error("Internal error in stepcompress")
|
||||
self.commanded_position += count
|
||||
self._commanded_pos += count
|
||||
def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel
|
||||
, height_base, closestxy_d, closest_height2, movez_r):
|
||||
inv_step_dist = self._inv_step_dist
|
||||
|
|
@ -162,7 +164,7 @@ class MCU_stepper:
|
|||
time_offset = start_v * inv_accel * mcu_freq
|
||||
accel_offset = start_v**2 * 0.5 * inv_accel
|
||||
step_dist = self._step_dist
|
||||
height = self.commanded_position*step_dist - height_base
|
||||
height = self._commanded_pos*step_dist - height_base
|
||||
if dist < 0:
|
||||
dist = -dist
|
||||
step_dist = -step_dist
|
||||
|
|
@ -173,7 +175,7 @@ class MCU_stepper:
|
|||
, height, closestxy_d, closest_height2, movez_r)
|
||||
if count == STEPCOMPRESS_ERROR_RET:
|
||||
raise error("Internal error in stepcompress")
|
||||
self.commanded_position += count
|
||||
self._commanded_pos += count
|
||||
|
||||
class MCU_endstop:
|
||||
error = error
|
||||
|
|
|
|||
Loading…
Reference in New Issue