diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 25 |
1 files changed, 12 insertions, 13 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index b904d73f..653b2276 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -80,34 +80,33 @@ class CartKinematics: if steps < 0: sdir = 1 steps = -steps - clock_offset, clock_freq, so = self.steppers[i].prep_move( - sdir, move_time) + mcu_time, so = self.steppers[i].prep_move(move_time, sdir) step_dist = move.move_d / steps step_offset = 0.5 # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel - accel_clock_offset = move.start_v * inv_accel * clock_freq - accel_sqrt_offset = accel_clock_offset**2 - accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2 + accel_time_offset = move.start_v * inv_accel + accel_sqrt_offset = accel_time_offset**2 + accel_multiplier = 2.0 * step_dist * inv_accel accel_steps = move.accel_r * steps step_offset = so.step_sqrt( - accel_steps, step_offset, clock_offset - accel_clock_offset + mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) - clock_offset += move.accel_t * clock_freq + mcu_time += move.accel_t # Cruising steps #t = pos/cruise_v - cruise_multiplier = step_dist * inv_cruise_v * clock_freq + cruise_multiplier = step_dist * inv_cruise_v cruise_steps = move.cruise_r * steps step_offset = so.step_factor( - cruise_steps, step_offset, clock_offset, cruise_multiplier) - clock_offset += move.cruise_t * clock_freq + mcu_time, cruise_steps, step_offset, cruise_multiplier) + mcu_time += move.cruise_t # Deceleration steps #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel) - decel_clock_offset = move.cruise_v * inv_accel * clock_freq - decel_sqrt_offset = decel_clock_offset**2 + decel_time_offset = move.cruise_v * inv_accel + decel_sqrt_offset = decel_time_offset**2 decel_steps = move.decel_r * steps so.step_sqrt( - decel_steps, step_offset, clock_offset + decel_clock_offset + mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) |