diff options
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 37 |
1 files changed, 18 insertions, 19 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index ba12fd64..3aef5a19 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -77,8 +77,7 @@ class PrinterExtruder: if steps < 0: sdir = 1 steps = -steps - clock_offset, clock_freq, so = self.stepper.prep_move( - sdir, move_time) + mcu_time, so = self.stepper.prep_move(move_time, sdir) step_dist = forward_d / steps inv_step_dist = 1. / step_dist @@ -86,28 +85,28 @@ class PrinterExtruder: # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel - accel_clock_offset = 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 = start_v * inv_accel + accel_sqrt_offset = accel_time_offset**2 + accel_multiplier = 2.0 * step_dist * inv_accel accel_steps = accel_d * inv_step_dist 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 += accel_t * clock_freq + mcu_time += accel_t # Cruising steps #t = pos/cruise_v - cruise_multiplier = step_dist * clock_freq / cruise_v + cruise_multiplier = step_dist / cruise_v cruise_steps = cruise_d * inv_step_dist step_offset = so.step_factor( - cruise_steps, step_offset, clock_offset, cruise_multiplier) - clock_offset += cruise_t * clock_freq + mcu_time, cruise_steps, step_offset, cruise_multiplier) + mcu_time += cruise_t # Deceleration steps #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel) - decel_clock_offset = decel_v * inv_accel * clock_freq - decel_sqrt_offset = decel_clock_offset**2 + decel_time_offset = decel_v * inv_accel + decel_sqrt_offset = decel_time_offset**2 decel_steps = decel_d * inv_step_dist 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) # Determine retract steps @@ -116,15 +115,15 @@ class PrinterExtruder: steps = self.stepper_pos - new_step_pos if steps: self.stepper_pos = new_step_pos - clock_offset, clock_freq, so = self.stepper.prep_move( - 1, move_time+accel_t+cruise_t+decel_t) + mcu_time, so = self.stepper.prep_move( + move_time+accel_t+cruise_t+decel_t, 1) step_dist = retract_d / steps # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel - accel_clock_offset = retract_v * inv_accel * clock_freq - accel_sqrt_offset = accel_clock_offset**2 - accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2 - so.step_sqrt(steps, 0.5, clock_offset - accel_clock_offset + accel_time_offset = retract_v * inv_accel + accel_sqrt_offset = accel_time_offset**2 + accel_multiplier = 2.0 * step_dist * inv_accel + so.step_sqrt(mcu_time - accel_time_offset, steps, 0.5 , accel_sqrt_offset, accel_multiplier) |