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| -rw-r--r-- | klippy/stepcompress.c | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/klippy/stepcompress.c b/klippy/stepcompress.c index fcdeb640..6230e751 100644 --- a/klippy/stepcompress.c +++ b/klippy/stepcompress.c @@ -463,6 +463,14 @@ stepcompress_push(struct stepcompress *sc, double step_clock, int32_t sdir) return 0; } +// Common suffixes: _sd is step distance (a unit length the same +// distance the stepper moves on each step), _sv is step velocity (in +// units of step distance per clock tick), _sd2 is step distance +// squared, _r is ratio (scalar usually between 0.0 and 1.0). Times +// are represented as clock ticks (a unit of time determined by a +// micro-controller tick) and acceleration is in units of step +// distance per clock ticks squared. + // Schedule 'steps' number of steps at constant acceleration. If // acceleration is zero (ie, constant velocity) it uses the formula: // step_clock = clock_offset + step_num/start_sv |