diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 40 |
1 files changed, 25 insertions, 15 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index be04308b..5e51b14d 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -139,31 +139,41 @@ class MCU_stepper: if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self.commanded_position += count - def step_delta_const(self, mcu_time, dist, start_pos - , inv_velocity, step_dist - , height, closestxy_d, closest_height2, movez_r): - clock = mcu_time * self._mcu_freq + def step_delta_const(self, mcu_time, start_pos, dist, cruise_v + , height_base, closestxy_d, closest_height2, movez_r): + mcu_freq = self._mcu_freq + step_dist = self._step_dist + height = self.commanded_position*step_dist - height_base + if dist < 0: + dist = -dist + step_dist = -step_dist count = self._ffi_lib.stepcompress_push_delta_const( - self._stepqueue, clock, dist, start_pos - , inv_velocity * self._mcu_freq, step_dist + self._stepqueue, mcu_time * mcu_freq, dist, -start_pos + , mcu_freq / cruise_v, step_dist , height, closestxy_d, closest_height2, movez_r) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self.commanded_position += count - return count - def step_delta_accel(self, mcu_time, dist, start_pos - , accel_multiplier, step_dist - , height, closestxy_d, closest_height2, movez_r): - clock = mcu_time * self._mcu_freq - mcu_freq2 = self._mcu_freq**2 + def step_delta_accel(self, mcu_time, start_pos, dist, start_v, accel + , height_base, closestxy_d, closest_height2, movez_r): + inv_step_dist = self._inv_step_dist + mcu_freq = self._mcu_freq + inv_accel = 1. / accel + time_offset = start_v * inv_accel * mcu_freq + accel_offset = start_v**2 * 0.5 * inv_accel + step_dist = self._step_dist + height = self.commanded_position*step_dist - height_base + if dist < 0: + dist = -dist + step_dist = -step_dist + clock = mcu_time * mcu_freq - time_offset count = self._ffi_lib.stepcompress_push_delta_accel( - self._stepqueue, clock, dist, start_pos - , accel_multiplier * mcu_freq2, step_dist + self._stepqueue, clock, dist, accel_offset - start_pos + , 2. * inv_accel * mcu_freq**2, step_dist , height, closestxy_d, closest_height2, movez_r) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self.commanded_position += count - return count class MCU_endstop: error = error |