diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 26 |
1 files changed, 9 insertions, 17 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 94e94d63..9127da6c 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -29,7 +29,7 @@ class MCU_stepper: self._dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin) self._commanded_pos = 0 self._step_dist = self._inv_step_dist = 1. - self._velocity_factor = self._inv_accel_factor = 0. + self._velocity_factor = self._accel_factor = 0. self._mcu_position_offset = 0 self._mcu_freq = self._min_stop_interval = 0. self._reset_cmd = self._get_position_cmd = None @@ -43,7 +43,7 @@ class MCU_stepper: def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() self._velocity_factor = 1. / (self._mcu_freq * self._step_dist) - self._inv_accel_factor = self._mcu_freq**2 * self._step_dist + self._accel_factor = 1. / (self._mcu_freq**2 * self._step_dist) max_error = self._mcu.get_max_stepper_error() min_stop_interval = max(0., self._min_stop_interval - max_error) self._mcu.add_config_cmd( @@ -119,29 +119,21 @@ class MCU_stepper: else: self._commanded_pos -= 1 def step_const(self, mcu_time, start_pos, dist, cruise_v): - #t = pos/cruise_v inv_step_dist = self._inv_step_dist step_offset = self._commanded_pos - start_pos * inv_step_dist - steps = dist * inv_step_dist - count = self._ffi_lib.stepcompress_push_factor( - self._stepqueue, steps, step_offset, - mcu_time * self._mcu_freq, 1. / (cruise_v * self._velocity_factor)) + count = self._ffi_lib.stepcompress_push_const( + self._stepqueue, mcu_time * self._mcu_freq, step_offset, + dist * inv_step_dist, cruise_v * self._velocity_factor) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count def step_accel(self, mcu_time, start_pos, dist, start_v, accel): - #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel inv_step_dist = self._inv_step_dist - mcu_freq = self._mcu_freq - inv_accel = 1. / accel - time_offset = start_v * inv_accel * mcu_freq - sqrt_offset = time_offset**2 step_offset = self._commanded_pos - start_pos * inv_step_dist - steps = dist * inv_step_dist - clock = mcu_time * mcu_freq - time_offset - count = self._ffi_lib.stepcompress_push_sqrt( - self._stepqueue, steps, step_offset, clock, - sqrt_offset, 2. * inv_accel * self._inv_accel_factor) + count = self._ffi_lib.stepcompress_push_accel( + self._stepqueue, mcu_time * self._mcu_freq, step_offset, + dist * inv_step_dist, start_v * self._velocity_factor, + accel * self._accel_factor) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count |