diff options
Diffstat (limited to 'klippy/chelper/kin_delta.c')
| -rw-r--r-- | klippy/chelper/kin_delta.c | 146 |
1 files changed, 26 insertions, 120 deletions
diff --git a/klippy/chelper/kin_delta.c b/klippy/chelper/kin_delta.c index 1925ae20..91794be9 100644 --- a/klippy/chelper/kin_delta.c +++ b/klippy/chelper/kin_delta.c @@ -1,133 +1,39 @@ // Delta kinematics stepper pulse time generation // -// Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. #include <math.h> // sqrt +#include <stddef.h> // offsetof +#include <stdlib.h> // malloc +#include <string.h> // memset #include "compiler.h" // __visible -#include "pyhelper.h" // errorf -#include "stepcompress.h" // queue_append +#include "itersolve.h" // struct stepper_kinematics -// Schedule steps using delta kinematics -static int32_t -_stepcompress_push_delta( - struct stepcompress *sc, int sdir - , double print_time, double move_sd, double start_sv, double accel - , double height, double startxy_sd, double arm_sd, double movez_r) -{ - // Calculate number of steps to take - double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.; - double arm_sd2 = arm_sd * arm_sd; - double endxy_sd = startxy_sd - movexy_r*move_sd; - double end_height = safe_sqrt(arm_sd2 - endxy_sd*endxy_sd); - int count = (end_height + movez_r*move_sd - height) * (sdir ? 1. : -1.) + .5; - if (count <= 0 || count > 10000000) { - if (count) { - errorf("push_delta invalid count %d %d %f %f %f %f %f %f %f %f" - , stepcompress_get_oid(sc), count, print_time, move_sd - , start_sv, accel, height, startxy_sd, arm_sd, movez_r); - return ERROR_RET; - } - return 0; - } - int ret = set_next_step_dir(sc, sdir); - if (ret) - return ret; - int res = sdir ? count : -count; +struct delta_stepper { + struct stepper_kinematics sk; + double arm2, tower_x, tower_y; +}; - // Calculate each step time - height += (sdir ? .5 : -.5); - if (!accel) { - // Move at constant velocity (zero acceleration) - struct queue_append qa = queue_append_start(sc, print_time, .5); - double inv_cruise_sv = stepcompress_get_mcu_freq(sc) / start_sv; - if (!movez_r) { - // Optimized case for common XY only moves (no Z movement) - while (count--) { - double v = safe_sqrt(arm_sd2 - height*height); - double pos = startxy_sd + (sdir ? -v : v); - int ret = queue_append(&qa, pos * inv_cruise_sv); - if (ret) - return ret; - height += (sdir ? 1. : -1.); - } - } else if (!movexy_r) { - // Optimized case for Z only moves - double pos = ((sdir ? height-end_height : end_height-height) - * inv_cruise_sv); - while (count--) { - int ret = queue_append(&qa, pos); - if (ret) - return ret; - pos += inv_cruise_sv; - } - } else { - // General case (handles XY+Z moves) - double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd; - while (count--) { - double relheight = movexy_r*height - zoffset; - double v = safe_sqrt(arm_sd2 - relheight*relheight); - double pos = start_pos + movez_r*height + (sdir ? -v : v); - int ret = queue_append(&qa, pos * inv_cruise_sv); - if (ret) - return ret; - height += (sdir ? 1. : -1.); - } - } - queue_append_finish(qa); - } else { - // Move with constant acceleration - double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd; - double mcu_freq = stepcompress_get_mcu_freq(sc); - double inv_accel = 1. / accel; - start_pos += 0.5 * start_sv*start_sv * inv_accel; - struct queue_append qa = queue_append_start( - sc, print_time, 0.5 - start_sv * inv_accel * mcu_freq); - double accel_multiplier = 2. * inv_accel * mcu_freq * mcu_freq; - while (count--) { - double relheight = movexy_r*height - zoffset; - double v = safe_sqrt(arm_sd2 - relheight*relheight); - double pos = start_pos + movez_r*height + (sdir ? -v : v); - v = safe_sqrt(pos * accel_multiplier); - int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v); - if (ret) - return ret; - height += (sdir ? 1. : -1.); - } - queue_append_finish(qa); - } - return res; +static double +delta_stepper_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct delta_stepper *ds = container_of(sk, struct delta_stepper, sk); + struct coord c = move_get_coord(m, move_time); + double dx = ds->tower_x - c.x, dy = ds->tower_y - c.y; + return sqrt(ds->arm2 - dx*dx - dy*dy) + c.z; } -int32_t __visible -stepcompress_push_delta( - struct stepcompress *sc, double print_time, double move_sd - , double start_sv, double accel - , double height, double startxy_sd, double arm_sd, double movez_r) +struct stepper_kinematics * __visible +delta_stepper_alloc(double arm2, double tower_x, double tower_y) { - double reversexy_sd = startxy_sd + arm_sd*movez_r; - if (reversexy_sd <= 0.) - // All steps are in down direction - return _stepcompress_push_delta( - sc, 0, print_time, move_sd, start_sv, accel - , height, startxy_sd, arm_sd, movez_r); - double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.; - if (reversexy_sd >= move_sd * movexy_r) - // All steps are in up direction - return _stepcompress_push_delta( - sc, 1, print_time, move_sd, start_sv, accel - , height, startxy_sd, arm_sd, movez_r); - // Steps in both up and down direction - int res1 = _stepcompress_push_delta( - sc, 1, print_time, reversexy_sd / movexy_r, start_sv, accel - , height, startxy_sd, arm_sd, movez_r); - if (res1 == ERROR_RET) - return res1; - int res2 = _stepcompress_push_delta( - sc, 0, print_time, move_sd, start_sv, accel - , height + res1, startxy_sd, arm_sd, movez_r); - if (res2 == ERROR_RET) - return res2; - return res1 + res2; + struct delta_stepper *ds = malloc(sizeof(*ds)); + memset(ds, 0, sizeof(*ds)); + ds->arm2 = arm2; + ds->tower_x = tower_x; + ds->tower_y = tower_y; + ds->sk.calc_position = delta_stepper_calc_position; + return &ds->sk; } |