Commit Graph

12 Commits

Author SHA1 Message Date
Kevin O'Connor 1acaaa98c2 trapq: Remove move_fill()
Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 797dcfcb12 itersolve: Remove unused gen_steps()
Eliminate the old gen_steps() call now that all callers have been
converted to the newer trapq based generate_steps().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor f3ef9c1889 itersolve: Add support for generating steps from a trapq
Support associating a stepper_kinematics with a trapq.  Support
generating steps from a time range on the given trapq.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor fdbdb3c707 trapq: Add new trapq.c file with code for trapezoidal velocity handling
Move the "struct move" code from itersolve.c to new file trapq.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 374eb98765 polar: Implement bed angle wrapping adjustments in chelper code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 92993c062b itersolve: Rename calc_position to calc_position_cb
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 9945cc0f46 itersolve: Fix possible infinite loop in itersolve_gen_steps()
If the kinematic position calculation function had an error in it (if
it produces sudden position changes) then it could lead to an infinite
loop in itersolve_gen_steps().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor cb29143939 itersolve: Support calculating a stepper position from a cartesian coordinate
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-18 11:51:28 -04:00
Kevin O'Connor 890298d34d itersolve: Support setting the stepper position via a cartesian coordinate
Add support for an itersolve_set_position() function that sets a
stepper position from a cartesian coordinate.  This eliminates the
need for both the python and C code to be able to translate from a
cartesian coordinate to a stepper position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-22 14:09:01 -04:00
Kevin O'Connor 926829e737 itersolve: Move tracking of commanded position to itersolve code
Track the commanded position in just the itersolve.c code instead of
in mcu.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor bbe53cf8e5 extruder: Convert to using iterative solver
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor 2511471b0d itersolve: Add kinematic iterative solver code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00