mcu: Pass delta velocity and acceleration directly to mcu_stepper
Rework the parameters of step_delta_const() and step_delta_accel() so that they take velocity and acceleration directly in millimeters and seconds. This simplifies the delta.py kinematic code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
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c4b1a79db2
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8c712d959d
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@ -183,19 +183,13 @@ class DeltaKinematics:
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origx, origy, origz = move.start_pos[:3]
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accel = move.accel
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cruise_v = move.cruise_v
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accel_t = move.accel_t
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cruise_end_t = accel_t + move.cruise_t
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accel_d = move.accel_r * move_d
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cruise_end_d = accel_d + move.cruise_r * move_d
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inv_cruise_v = 1. / move.cruise_v
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inv_accel = 1. / move.accel
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accel_time_offset = move.start_v * inv_accel
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accel_multiplier = 2.0 * inv_accel
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accel_offset = move.start_v**2 * 0.5 * inv_accel
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decel_time_offset = move.cruise_v * inv_accel + cruise_end_t
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decel_offset = move.cruise_v**2 * 0.5 * inv_accel + cruise_end_d
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for i in StepList:
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# Find point on line of movement closest to tower
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towerx_d = self.towers[i][0] - origx
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@ -235,44 +229,32 @@ class DeltaKinematics:
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# Generate steps
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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step_pos = mcu_stepper.commanded_position
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step_dist = self.steppers[i].step_dist
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height = step_pos*step_dist - origz
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if accel_up_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, accel_up_d,
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accel_offset, accel_multiplier, step_dist,
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height, closestxy_d, closest_height2, movez_r)
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height += count * step_dist
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mcu_stepper.step_delta_accel(
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mcu_time, 0., accel_up_d, move.start_v, accel,
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origz, closestxy_d, closest_height2, movez_r)
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if cruise_up_d > 0.:
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, cruise_up_d,
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-accel_d, inv_cruise_v, step_dist,
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height, closestxy_d, closest_height2, movez_r)
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height += count * step_dist
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mcu_stepper.step_delta_const(
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mcu_time + accel_t, accel_d, cruise_up_d, cruise_v,
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origz, closestxy_d, closest_height2, movez_r)
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if decel_up_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, decel_up_d,
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-decel_offset, -accel_multiplier, step_dist,
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height, closestxy_d, closest_height2, movez_r)
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height += count * step_dist
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mcu_stepper.step_delta_accel(
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mcu_time + cruise_end_t, cruise_end_d, decel_up_d,
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cruise_v, -accel,
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origz, closestxy_d, closest_height2, movez_r)
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if accel_down_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, accel_down_d,
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accel_offset, accel_multiplier, -step_dist,
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height, closestxy_d, closest_height2, movez_r)
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height += count * step_dist
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mcu_stepper.step_delta_accel(
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mcu_time, 0., -accel_down_d, move.start_v, accel,
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origz, closestxy_d, closest_height2, movez_r)
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if cruise_down_d > 0.:
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, cruise_down_d,
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-accel_d, inv_cruise_v, -step_dist,
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height, closestxy_d, closest_height2, movez_r)
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height += count * step_dist
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mcu_stepper.step_delta_const(
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mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v,
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origz, closestxy_d, closest_height2, movez_r)
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if decel_down_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, decel_down_d,
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-decel_offset, -accel_multiplier, -step_dist,
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height, closestxy_d, closest_height2, movez_r)
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mcu_stepper.step_delta_accel(
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mcu_time + cruise_end_t, cruise_end_d, -decel_down_d,
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cruise_v, -accel,
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origz, closestxy_d, closest_height2, movez_r)
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######################################################################
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@ -139,31 +139,41 @@ class MCU_stepper:
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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def step_delta_const(self, mcu_time, dist, start_pos
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, inv_velocity, step_dist
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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def step_delta_const(self, mcu_time, start_pos, dist, cruise_v
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, height_base, closestxy_d, closest_height2, movez_r):
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mcu_freq = self._mcu_freq
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step_dist = self._step_dist
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height = self.commanded_position*step_dist - height_base
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if dist < 0:
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dist = -dist
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step_dist = -step_dist
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count = self._ffi_lib.stepcompress_push_delta_const(
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self._stepqueue, clock, dist, start_pos
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, inv_velocity * self._mcu_freq, step_dist
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self._stepqueue, mcu_time * mcu_freq, dist, -start_pos
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, mcu_freq / cruise_v, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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def step_delta_accel(self, mcu_time, dist, start_pos
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, accel_multiplier, step_dist
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel
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, height_base, closestxy_d, closest_height2, movez_r):
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inv_step_dist = self._inv_step_dist
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mcu_freq = self._mcu_freq
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inv_accel = 1. / accel
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time_offset = start_v * inv_accel * mcu_freq
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accel_offset = start_v**2 * 0.5 * inv_accel
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step_dist = self._step_dist
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height = self.commanded_position*step_dist - height_base
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if dist < 0:
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dist = -dist
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step_dist = -step_dist
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clock = mcu_time * mcu_freq - time_offset
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count = self._ffi_lib.stepcompress_push_delta_accel(
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self._stepqueue, clock, dist, start_pos
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, accel_multiplier * mcu_freq2, step_dist
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self._stepqueue, clock, dist, accel_offset - start_pos
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, 2. * inv_accel * mcu_freq**2, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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class MCU_endstop:
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error = error
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