diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 62 |
1 files changed, 22 insertions, 40 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 009fb7b6..9722ff3d 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -183,19 +183,13 @@ class DeltaKinematics: origx, origy, origz = move.start_pos[:3] + accel = move.accel + cruise_v = move.cruise_v accel_t = move.accel_t cruise_end_t = accel_t + move.cruise_t accel_d = move.accel_r * move_d cruise_end_d = accel_d + move.cruise_r * move_d - inv_cruise_v = 1. / move.cruise_v - inv_accel = 1. / move.accel - accel_time_offset = move.start_v * inv_accel - accel_multiplier = 2.0 * inv_accel - accel_offset = move.start_v**2 * 0.5 * inv_accel - decel_time_offset = move.cruise_v * inv_accel + cruise_end_t - decel_offset = move.cruise_v**2 * 0.5 * inv_accel + cruise_end_d - for i in StepList: # Find point on line of movement closest to tower towerx_d = self.towers[i][0] - origx @@ -235,44 +229,32 @@ class DeltaKinematics: # Generate steps mcu_stepper = self.steppers[i].mcu_stepper mcu_time = mcu_stepper.print_to_mcu_time(move_time) - step_pos = mcu_stepper.commanded_position - step_dist = self.steppers[i].step_dist - height = step_pos*step_dist - origz if accel_up_d > 0.: - count = mcu_stepper.step_delta_accel( - mcu_time - accel_time_offset, accel_up_d, - accel_offset, accel_multiplier, step_dist, - height, closestxy_d, closest_height2, movez_r) - height += count * step_dist + mcu_stepper.step_delta_accel( + mcu_time, 0., accel_up_d, move.start_v, accel, + origz, closestxy_d, closest_height2, movez_r) if cruise_up_d > 0.: - count = mcu_stepper.step_delta_const( - mcu_time + accel_t, cruise_up_d, - -accel_d, inv_cruise_v, step_dist, - height, closestxy_d, closest_height2, movez_r) - height += count * step_dist + mcu_stepper.step_delta_const( + mcu_time + accel_t, accel_d, cruise_up_d, cruise_v, + origz, closestxy_d, closest_height2, movez_r) if decel_up_d > 0.: - count = mcu_stepper.step_delta_accel( - mcu_time + decel_time_offset, decel_up_d, - -decel_offset, -accel_multiplier, step_dist, - height, closestxy_d, closest_height2, movez_r) - height += count * step_dist + mcu_stepper.step_delta_accel( + mcu_time + cruise_end_t, cruise_end_d, decel_up_d, + cruise_v, -accel, + origz, closestxy_d, closest_height2, movez_r) if accel_down_d > 0.: - count = mcu_stepper.step_delta_accel( - mcu_time - accel_time_offset, accel_down_d, - accel_offset, accel_multiplier, -step_dist, - height, closestxy_d, closest_height2, movez_r) - height += count * step_dist + mcu_stepper.step_delta_accel( + mcu_time, 0., -accel_down_d, move.start_v, accel, + origz, closestxy_d, closest_height2, movez_r) if cruise_down_d > 0.: - count = mcu_stepper.step_delta_const( - mcu_time + accel_t, cruise_down_d, - -accel_d, inv_cruise_v, -step_dist, - height, closestxy_d, closest_height2, movez_r) - height += count * step_dist + mcu_stepper.step_delta_const( + mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v, + origz, closestxy_d, closest_height2, movez_r) if decel_down_d > 0.: - count = mcu_stepper.step_delta_accel( - mcu_time + decel_time_offset, decel_down_d, - -decel_offset, -accel_multiplier, -step_dist, - height, closestxy_d, closest_height2, movez_r) + mcu_stepper.step_delta_accel( + mcu_time + cruise_end_t, cruise_end_d, -decel_down_d, + cruise_v, -accel, + origz, closestxy_d, closest_height2, movez_r) ###################################################################### |