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Diffstat (limited to 'docs')
| -rw-r--r-- | docs/Code_Overview.md | 25 |
1 files changed, 13 insertions, 12 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 64d54c28..af68b27b 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -149,7 +149,7 @@ provides further information on the mechanics of moves. zero duration. * When Move.move() is called, everything about the move is known - its start location, its end location, its acceleration, its - start/crusing/end velocity, and distance traveled during + start/cruising/end velocity, and distance traveled during acceleration/cruising/deceleration. All the information is stored in the Move() class and is in cartesian space in units of millimeters and seconds. @@ -176,14 +176,14 @@ provides further information on the mechanics of moves. the stepper pulse times are generated in C code. The code flow is: `kin.move() -> MCU_Stepper.step_itersolve() -> itersolve_gen_steps()` (in klippy/chelper/itersolve.c). The goal of - the iterative solver is to find step times given a formula that - calculates a stepper position from a given time in a move. This is - done by repeatedly "guessing" various times until the stepper - position formula returns the desired position of the next step on - the stepper. The feedback produced from each guess is used to - improve future guesses so that the process rapidly converges to the - desired time. The kinematic stepper position formulas are located in - the klippy/chelper/ directory (eg, kin_cart.c, kin_corexy.c, + the iterative solver is to find step times given a function that + calculates a stepper position from a time. This is done by + repeatedly "guessing" various times until the stepper position + formula returns the desired position of the next step on the + stepper. The feedback produced from each guess is used to improve + future guesses so that the process rapidly converges to the desired + time. The kinematic stepper position formulas are located in the + klippy/chelper/ directory (eg, kin_cart.c, kin_corexy.c, kin_delta.c, kin_extruder.c). * After the iterative solver calculates the step times they are added @@ -320,9 +320,10 @@ Useful steps: calculate the desired stepper position (in millimeters) from that cartesian coordinate. 4. Implement the `calc_position()` method in the new kinematics class. - This method is the inverse of set_position(). It does not need to - be efficient as it is typically only called during homing and - probing operations. + This method calculates the position of the toolhead in cartesian + coordinates from the current position of each stepper. It does not + need to be efficient as it is typically only called during homing + and probing operations. 5. Other methods. The `move()`, `home()`, `check_move()`, and other methods should also be implemented. These functions are typically used to provide kinematic specific checks. However, at the start of |