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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 2017-04-04 19:07:34 -04:00
parent 8c712d959d
commit 79f31238b0
2 changed files with 18 additions and 16 deletions
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2
klippy/delta.py
View File

@ -118,7 +118,7 @@ class DeltaKinematics:
homing_state.home(list(coord), homepos, self.steppers homing_state.home(list(coord), homepos, self.steppers
, s.homing_speed/2.0, second_home=True) , s.homing_speed/2.0, second_home=True)
# Set final homed position # 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 * s.step_dist
for s in self.steppers] for s in self.steppers]
homing_state.set_homed_position(self._actuator_to_cartesian(coord)) homing_state.set_homed_position(self._actuator_to_cartesian(coord))

32
klippy/mcu.py
View File

@ -27,7 +27,7 @@ class MCU_stepper:
self._oid = mcu.create_oid(self) self._oid = mcu.create_oid(self)
self._step_pin, pullup, self._invert_step = parse_pin_extras(step_pin) 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._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._step_dist = self._inv_step_dist = 1.
self._velocity_factor = self._inv_accel_factor = 0. self._velocity_factor = self._inv_accel_factor = 0.
self._mcu_position_offset = 0 self._mcu_position_offset = 0
@ -69,10 +69,12 @@ class MCU_stepper:
def get_oid(self): def get_oid(self):
return self._oid return self._oid
def set_position(self, pos): def set_position(self, pos):
self._mcu_position_offset += self.commanded_position - pos self._mcu_position_offset += self._commanded_pos - pos
self.commanded_position = pos self._commanded_pos = pos
def get_commanded_position(self):
return self._commanded_pos
def get_mcu_position(self): 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): def note_homing_start(self, homing_clock):
ret = self._ffi_lib.stepcompress_set_homing( ret = self._ffi_lib.stepcompress_set_homing(
self._stepqueue, homing_clock) self._stepqueue, homing_clock)
@ -92,7 +94,7 @@ class MCU_stepper:
pos = params['pos'] pos = params['pos']
if self._invert_dir: if self._invert_dir:
pos = -pos 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): def reset_step_clock(self, mcu_time):
clock = int(mcu_time * self._mcu_freq) clock = int(mcu_time * self._mcu_freq)
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock) ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
@ -109,20 +111,20 @@ class MCU_stepper:
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
if sdir: if sdir:
self.commanded_position += 1 self._commanded_pos += 1
else: else:
self.commanded_position -= 1 self._commanded_pos -= 1
def step_const(self, mcu_time, start_pos, dist, cruise_v): def step_const(self, mcu_time, start_pos, dist, cruise_v):
#t = pos/cruise_v #t = pos/cruise_v
inv_step_dist = self._inv_step_dist 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 steps = dist * inv_step_dist
count = self._ffi_lib.stepcompress_push_factor( count = self._ffi_lib.stepcompress_push_factor(
self._stepqueue, steps, step_offset, self._stepqueue, steps, step_offset,
mcu_time * self._mcu_freq, 1. / (cruise_v * self._velocity_factor)) mcu_time * self._mcu_freq, 1. / (cruise_v * self._velocity_factor))
if count == STEPCOMPRESS_ERROR_RET: if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress") 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): def step_accel(self, mcu_time, start_pos, dist, start_v, accel):
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
inv_step_dist = self._inv_step_dist inv_step_dist = self._inv_step_dist
@ -130,7 +132,7 @@ class MCU_stepper:
inv_accel = 1. / accel inv_accel = 1. / accel
time_offset = start_v * inv_accel * mcu_freq time_offset = start_v * inv_accel * mcu_freq
sqrt_offset = time_offset**2 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 steps = dist * inv_step_dist
clock = mcu_time * mcu_freq - time_offset clock = mcu_time * mcu_freq - time_offset
count = self._ffi_lib.stepcompress_push_sqrt( count = self._ffi_lib.stepcompress_push_sqrt(
@ -138,12 +140,12 @@ class MCU_stepper:
sqrt_offset, 2. * inv_accel * self._inv_accel_factor) sqrt_offset, 2. * inv_accel * self._inv_accel_factor)
if count == STEPCOMPRESS_ERROR_RET: if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress") 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 def step_delta_const(self, mcu_time, start_pos, dist, cruise_v
, height_base, closestxy_d, closest_height2, movez_r): , height_base, closestxy_d, closest_height2, movez_r):
mcu_freq = self._mcu_freq mcu_freq = self._mcu_freq
step_dist = self._step_dist step_dist = self._step_dist
height = self.commanded_position*step_dist - height_base height = self._commanded_pos*step_dist - height_base
if dist < 0: if dist < 0:
dist = -dist dist = -dist
step_dist = -step_dist step_dist = -step_dist
@ -153,7 +155,7 @@ class MCU_stepper:
, height, closestxy_d, closest_height2, movez_r) , height, closestxy_d, closest_height2, movez_r)
if count == STEPCOMPRESS_ERROR_RET: if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress") 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 def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel
, height_base, closestxy_d, closest_height2, movez_r): , height_base, closestxy_d, closest_height2, movez_r):
inv_step_dist = self._inv_step_dist inv_step_dist = self._inv_step_dist
@ -162,7 +164,7 @@ class MCU_stepper:
time_offset = start_v * inv_accel * mcu_freq time_offset = start_v * inv_accel * mcu_freq
accel_offset = start_v**2 * 0.5 * inv_accel accel_offset = start_v**2 * 0.5 * inv_accel
step_dist = self._step_dist step_dist = self._step_dist
height = self.commanded_position*step_dist - height_base height = self._commanded_pos*step_dist - height_base
if dist < 0: if dist < 0:
dist = -dist dist = -dist
step_dist = -step_dist step_dist = -step_dist
@ -173,7 +175,7 @@ class MCU_stepper:
, height, closestxy_d, closest_height2, movez_r) , height, closestxy_d, closest_height2, movez_r)
if count == STEPCOMPRESS_ERROR_RET: if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
self.commanded_position += count self._commanded_pos += count
class MCU_endstop: class MCU_endstop:
error = error error = error