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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 08:41:50 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 15:51:51 -0500 |
| commit | 86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7 (patch) | |
| tree | 0bd56060e88f145b419b48b4aeeaf8ca5e6c1151 /klippy/chelper | |
| parent | 257058981eff9b0944029c101de5f18af2fbf914 (diff) | |
| download | kutter-86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7.tar.gz kutter-86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7.tar.xz kutter-86121ff79ef730a0a7a4d2d35f40cc01f7e1b9e7.zip | |
toolhead: Calculate and store axes_r in move class
Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r. This avoids
needing to recalculate the value in other code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/chelper')
| -rw-r--r-- | klippy/chelper/__init__.py | 2 | ||||
| -rw-r--r-- | klippy/chelper/trapq.c | 14 | ||||
| -rw-r--r-- | klippy/chelper/trapq.h | 2 |
3 files changed, 5 insertions, 13 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index afd4d922..22649f72 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -61,7 +61,7 @@ defs_trapq = """ 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 - , double axes_d_x, double axes_d_y, double axes_d_z + , double axes_r_x, double axes_r_y, double axes_r_z , double start_v, double cruise_v, double accel); struct trapq *trapq_alloc(void); void trapq_free(struct trapq *tq); diff --git a/klippy/chelper/trapq.c b/klippy/chelper/trapq.c index 851a15b7..4c2356ad 100644 --- a/klippy/chelper/trapq.c +++ b/klippy/chelper/trapq.c @@ -25,19 +25,11 @@ void __visible 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 - , double axes_d_x, double axes_d_y, double axes_d_z + , double axes_r_x, double axes_r_y, double axes_r_z , double start_v, double cruise_v, double accel) { - struct coord axes_r, start_pos; - double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y - + axes_d_z*axes_d_z); - axes_r.x = axes_d_x * inv_move_d; - axes_r.y = axes_d_y * inv_move_d; - axes_r.z = axes_d_z * inv_move_d; - start_pos.x = start_pos_x; - start_pos.y = start_pos_y; - start_pos.z = start_pos_z; - + struct coord start_pos = { x: start_pos_x, y: start_pos_y, z: start_pos_z }; + struct coord axes_r = { x: axes_r_x, y: axes_r_y, z: axes_r_z }; if (accel_t) { struct move *m = move_alloc(); m->print_time = print_time; diff --git a/klippy/chelper/trapq.h b/klippy/chelper/trapq.h index 787d83a4..ec762621 100644 --- a/klippy/chelper/trapq.h +++ b/klippy/chelper/trapq.h @@ -23,7 +23,7 @@ struct move *move_alloc(void); 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 - , double axes_d_x, double axes_d_y, double axes_d_z + , double axes_r_x, double axes_r_y, double axes_r_z , double start_v, double cruise_v, double accel); double move_get_distance(struct move *m, double move_time); struct coord move_get_coord(struct move *m, double move_time); |