81 lines
2.4 KiB
C
81 lines
2.4 KiB
C
// Extruder stepper pulse time generation
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//
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// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "pyhelper.h" // errorf
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#include "trapq.h" // move_get_distance
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static double
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extruder_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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return m->start_pos.x + move_get_distance(m, move_time);
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}
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struct stepper_kinematics * __visible
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extruder_stepper_alloc(void)
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{
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struct stepper_kinematics *sk = malloc(sizeof(*sk));
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memset(sk, 0, sizeof(*sk));
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sk->calc_position_cb = extruder_calc_position;
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sk->active_flags = AF_X;
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return sk;
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}
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// Populate a 'struct move' with an extruder velocity trapezoid
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void __visible
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extruder_add_move(struct trapq *tq, double print_time
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, double accel_t, double cruise_t, double decel_t
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, double start_e_pos
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, double start_v, double cruise_v, double accel
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, double extra_accel_v, double extra_decel_v)
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{
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struct coord start_pos, axes_r;
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start_pos.x = start_e_pos;
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axes_r.x = 1.;
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start_pos.y = start_pos.z = axes_r.y = axes_r.z = 0.;
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if (accel_t) {
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struct move *m = move_alloc();
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m->print_time = print_time;
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m->move_t = accel_t;
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m->start_v = start_v + extra_accel_v;
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m->half_accel = .5 * accel;
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m->start_pos = start_pos;
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m->axes_r = axes_r;
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trapq_add_move(tq, m);
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print_time += accel_t;
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start_pos.x += move_get_distance(m, accel_t);
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}
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if (cruise_t) {
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struct move *m = move_alloc();
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m->print_time = print_time;
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m->move_t = cruise_t;
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m->start_v = cruise_v;
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m->half_accel = 0.;
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m->start_pos = start_pos;
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m->axes_r = axes_r;
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trapq_add_move(tq, m);
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print_time += cruise_t;
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start_pos.x += move_get_distance(m, cruise_t);
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}
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if (decel_t) {
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struct move *m = move_alloc();
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m->print_time = print_time;
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m->move_t = decel_t;
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m->start_v = cruise_v + extra_decel_v;
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m->half_accel = -.5 * accel;
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m->start_pos = start_pos;
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m->axes_r = axes_r;
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trapq_add_move(tq, m);
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}
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}
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