diff options
Diffstat (limited to 'klippy/corexy.py')
| -rw-r--r-- | klippy/corexy.py | 53 |
1 files changed, 19 insertions, 34 deletions
diff --git a/klippy/corexy.py b/klippy/corexy.py index f8b2a052..e9454a2c 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -111,54 +111,39 @@ class CoreXYKinematics: def move(self, move_time, move): if self.need_motor_enable: self._check_motor_enable(move_time, move) - inv_accel = 1. / move.accel - inv_cruise_v = 1. / move.cruise_v sxp = move.start_pos[0] syp = move.start_pos[1] - start_pos = (sxp + syp, sxp - syp, move.start_pos[2]) + move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2]) exp = move.end_pos[0] eyp = move.end_pos[1] - end_pos = (exp + eyp, exp - eyp, move.start_pos[2]) - axes_d = (end_pos[0] - start_pos[0], end_pos[1] - start_pos[1], - move.axes_d[2]) + axes_d = ((exp + eyp) - move_start_pos[0], + (exp - eyp) - move_start_pos[1], move.axes_d[2]) for i in StepList: - if not axes_d[i]: + axis_d = axes_d[i] + if not axis_d: continue mcu_stepper = self.steppers[i].mcu_stepper mcu_time = mcu_stepper.print_to_mcu_time(move_time) - step_pos = mcu_stepper.commanded_position - inv_step_dist = self.steppers[i].inv_step_dist - step_offset = step_pos - start_pos[i] * inv_step_dist - steps = axes_d[i] * inv_step_dist - move_step_d = move.move_d / abs(steps) + start_pos = move_start_pos[i] + axis_r = abs(axis_d) / move.move_d + accel = move.accel * axis_r + cruise_v = move.cruise_v * axis_r # Acceleration steps - accel_multiplier = 2.0 * move_step_d * inv_accel if move.accel_r: - #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel - accel_time_offset = move.start_v * inv_accel - accel_sqrt_offset = accel_time_offset**2 - accel_steps = move.accel_r * steps - count = mcu_stepper.step_sqrt( - mcu_time - accel_time_offset, accel_steps, step_offset - , accel_sqrt_offset, accel_multiplier) - step_offset += count - accel_steps + accel_d = move.accel_r * axis_d + mcu_stepper.step_accel( + mcu_time, start_pos, accel_d, move.start_v * axis_r, accel) + start_pos += accel_d mcu_time += move.accel_t # Cruising steps if move.cruise_r: - #t = pos/cruise_v - cruise_multiplier = move_step_d * inv_cruise_v - cruise_steps = move.cruise_r * steps - count = mcu_stepper.step_factor( - mcu_time, cruise_steps, step_offset, cruise_multiplier) - step_offset += count - cruise_steps + cruise_d = move.cruise_r * axis_d + mcu_stepper.step_const(mcu_time, start_pos, cruise_d, cruise_v) + start_pos += cruise_d mcu_time += move.cruise_t # Deceleration steps if move.decel_r: - #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel) - decel_time_offset = move.cruise_v * inv_accel - decel_sqrt_offset = decel_time_offset**2 - decel_steps = move.decel_r * steps - count = mcu_stepper.step_sqrt( - mcu_time + decel_time_offset, decel_steps, step_offset - , decel_sqrt_offset, -accel_multiplier) + decel_d = move.decel_r * axis_d + mcu_stepper.step_accel( + mcu_time, start_pos, decel_d, cruise_v, -accel) |