55 lines
1.7 KiB
C
55 lines
1.7 KiB
C
// Extruder stepper pulse time generation
|
|
//
|
|
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
|
|
//
|
|
// This file may be distributed under the terms of the GNU GPLv3 license.
|
|
|
|
#include <stdlib.h> // malloc
|
|
#include <string.h> // memset
|
|
#include "compiler.h" // __visible
|
|
#include "itersolve.h" // struct stepper_kinematics
|
|
#include "pyhelper.h" // errorf
|
|
|
|
static double
|
|
extruder_calc_position(struct stepper_kinematics *sk, struct move *m
|
|
, double move_time)
|
|
{
|
|
return m->start_pos.x + move_get_distance(m, move_time);
|
|
}
|
|
|
|
struct stepper_kinematics * __visible
|
|
extruder_stepper_alloc(void)
|
|
{
|
|
struct stepper_kinematics *sk = malloc(sizeof(*sk));
|
|
memset(sk, 0, sizeof(*sk));
|
|
sk->calc_position = extruder_calc_position;
|
|
return sk;
|
|
}
|
|
|
|
// Populate a 'struct move' with an extruder velocity trapezoid
|
|
void __visible
|
|
extruder_move_fill(struct move *m, double print_time
|
|
, double accel_t, double cruise_t, double decel_t
|
|
, double start_pos
|
|
, double start_v, double cruise_v, double accel
|
|
, double extra_accel_v, double extra_decel_v)
|
|
{
|
|
// Setup velocity trapezoid
|
|
m->print_time = print_time;
|
|
m->move_t = accel_t + cruise_t + decel_t;
|
|
m->accel_t = accel_t;
|
|
m->cruise_t = cruise_t;
|
|
m->cruise_start_d = accel_t * (.5 * (cruise_v + start_v) + extra_accel_v);
|
|
m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
|
|
|
|
// Setup for accel/cruise/decel phases
|
|
m->cruise_v = cruise_v;
|
|
m->accel.c1 = start_v + extra_accel_v;
|
|
m->accel.c2 = .5 * accel;
|
|
m->decel.c1 = cruise_v + extra_decel_v;
|
|
m->decel.c2 = -m->accel.c2;
|
|
|
|
// Setup start distance
|
|
m->start_pos.x = start_pos;
|
|
}
|