diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 35 |
1 files changed, 13 insertions, 22 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 741ac0aa..26e98d39 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -130,36 +130,27 @@ class MCU_stepper: self._commanded_pos += count 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_pos*step_dist - height_base - if dist < 0: - dist = -dist - step_dist = -step_dist + inv_step_dist = self._inv_step_dist + height = self._commanded_pos - height_base * inv_step_dist count = self._ffi_lib.stepcompress_push_delta_const( - self._stepqueue, mcu_time * mcu_freq, dist, -start_pos - , mcu_freq / cruise_v, step_dist - , height, closestxy_d, closest_height2, movez_r) + self._stepqueue, mcu_time * self._mcu_freq, + -start_pos * inv_step_dist, dist * inv_step_dist, + cruise_v * self._velocity_factor, + height, closestxy_d * inv_step_dist, + closest_height2 * inv_step_dist**2, movez_r) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count 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_pos*step_dist - height_base - if dist < 0: - dist = -dist - step_dist = -step_dist - clock = mcu_time * mcu_freq - time_offset + height = self._commanded_pos - height_base * inv_step_dist count = self._ffi_lib.stepcompress_push_delta_accel( - self._stepqueue, clock, dist, accel_offset - start_pos - , 2. * inv_accel * mcu_freq**2, step_dist - , height, closestxy_d, closest_height2, movez_r) + self._stepqueue, mcu_time * self._mcu_freq, + -start_pos * inv_step_dist, dist * inv_step_dist, + start_v * self._velocity_factor, accel * self._accel_factor, + height, closestxy_d * inv_step_dist, + closest_height2 * inv_step_dist**2, movez_r) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count |