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| author | Kevin O'Connor <kevin@koconnor.net> | 2021-07-19 11:32:16 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2021-07-29 16:35:30 -0400 |
| commit | 45c232b2c724136aa9ef54b2858712640baacb3d (patch) | |
| tree | d6e3671a3c7af1b218e1e4ad6104d03d018f5b82 /klippy/chelper/__init__.py | |
| parent | e2f483aea3a9eb885a410b264916ffb711daccfa (diff) | |
| download | kutter-45c232b2c724136aa9ef54b2858712640baacb3d.tar.gz kutter-45c232b2c724136aa9ef54b2858712640baacb3d.tar.xz kutter-45c232b2c724136aa9ef54b2858712640baacb3d.zip | |
trapq: Keep history of recent trapq moves
Store trapq moves in a separate "history" list after each move is
nominally expired.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/chelper/__init__.py')
| -rw-r--r-- | klippy/chelper/__init__.py | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index 09897927..97493355 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -68,6 +68,13 @@ defs_itersolve = """ """ defs_trapq = """ + struct pull_move { + double print_time, move_t; + double start_v, accel; + double start_x, start_y, start_z; + double x_r, y_r, z_r; + }; + void trapq_append(struct trapq *tq, double print_time , double accel_t, double cruise_t, double decel_t , double start_pos_x, double start_pos_y, double start_pos_z @@ -76,6 +83,8 @@ defs_trapq = """ struct trapq *trapq_alloc(void); void trapq_free(struct trapq *tq); void trapq_finalize_moves(struct trapq *tq, double print_time); + int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max + , double start_time, double end_time); """ defs_kin_cartesian = """ |