diff options
| author | Kevin O'Connor <kevin@koconnor.net> | 2016-07-07 16:57:25 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-07-10 22:49:02 -0400 |
| commit | 4a527a46cedaa4a7932ba5c1080b7133c69602cd (patch) | |
| tree | d1d1b92419716f00a353e50374a6090ed89a0f7e /klippy/stepper.py | |
| parent | 5829aa8bd796358ce7880dbb6e9574589e62a927 (diff) | |
| download | kutter-4a527a46cedaa4a7932ba5c1080b7133c69602cd.tar.gz kutter-4a527a46cedaa4a7932ba5c1080b7133c69602cd.tar.xz kutter-4a527a46cedaa4a7932ba5c1080b7133c69602cd.zip | |
stepper: Store max_velocity/max_accel instead of max_step_velocity/accel
All users of max_step_velocity and max_step_accel end up multiplying
by step_dist anyway, so it's easier to store max_velocity and
max_accel.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 61faaee0..5a05e910 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -13,10 +13,8 @@ class PrinterStepper: self.step_dist = config.getfloat('step_distance') self.inv_step_dist = 1. / self.step_dist - max_velocity = config.getfloat('max_velocity') - self.max_step_velocity = max_velocity * self.inv_step_dist - max_accel = config.getfloat('max_accel') - self.max_step_accel = max_accel * self.inv_step_dist + self.max_velocity = config.getfloat('max_velocity') + self.max_accel = config.getfloat('max_accel') self.homing_speed = config.getfloat('homing_speed', 5.0) self.homing_positive_dir = config.getboolean( @@ -36,7 +34,8 @@ class PrinterStepper: step_pin = self.config.get('step_pin') dir_pin = self.config.get('dir_pin') jc = 0.005 # XXX - min_stop_interval = int((math.sqrt(1./self.max_step_accel + jc**2) - jc) + inv_max_step_accel = self.step_dist / self.max_accel + min_stop_interval = int((math.sqrt(inv_max_step_accel + jc**2) - jc) * self.clock_ticks) - max_error min_stop_interval = max(0, min_stop_interval) mcu = self.printer.mcu |