diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/chelper/itersolve.c | 2 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.h | 2 | ||||
| -rw-r--r-- | klippy/chelper/kin_polar.c | 16 | ||||
| -rw-r--r-- | klippy/kinematics/polar.py | 9 |
4 files changed, 19 insertions, 10 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 5cb3fffc..2949b9c2 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -206,6 +206,8 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) } queue_append_finish(qa); sk->commanded_pos = last.position; + if (sk->post_cb) + sk->post_cb(sk); return 0; } diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h index 08447fa6..23743498 100644 --- a/klippy/chelper/itersolve.h +++ b/klippy/chelper/itersolve.h @@ -32,10 +32,12 @@ struct coord move_get_coord(struct move *m, double move_time); struct stepper_kinematics; typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m , double move_time); +typedef void (*sk_post_callback)(struct stepper_kinematics *sk); struct stepper_kinematics { double step_dist, commanded_pos; struct stepcompress *sc; sk_calc_callback calc_position_cb; + sk_post_callback post_cb; }; int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m); diff --git a/klippy/chelper/kin_polar.c b/klippy/chelper/kin_polar.c index bba5546a..77755d70 100644 --- a/klippy/chelper/kin_polar.c +++ b/klippy/chelper/kin_polar.c @@ -32,14 +32,26 @@ polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m return angle; } +static void +polar_stepper_angle_post_fixup(struct stepper_kinematics *sk) +{ + // Normalize the stepper_bed angle + if (sk->commanded_pos < -M_PI) + sk->commanded_pos += 2 * M_PI; + else if (sk->commanded_pos > M_PI) + sk->commanded_pos -= 2 * M_PI; +} + struct stepper_kinematics * __visible polar_stepper_alloc(char type) { struct stepper_kinematics *sk = malloc(sizeof(*sk)); memset(sk, 0, sizeof(*sk)); - if (type == 'r') + if (type == 'r') { sk->calc_position_cb = polar_stepper_radius_calc_position; - else if (type == 'a') + } else if (type == 'a') { sk->calc_position_cb = polar_stepper_angle_calc_position; + sk->post_cb = polar_stepper_angle_post_fixup; + } return sk; } diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 230e67f6..97de0a9d 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -120,14 +120,7 @@ class PolarKinematics: cmove = move.cmove if axes_d[0] or axes_d[1]: self.rails[0].step_itersolve(cmove) - stepper_bed = self.steppers[0] - stepper_bed.step_itersolve(cmove) - # Normalize the stepper_bed angle - angle = stepper_bed.get_commanded_position() - if angle < -math.pi: - stepper_bed.set_commanded_position(angle + 2. * math.pi) - elif angle > math.pi: - stepper_bed.set_commanded_position(angle - 2. * math.pi) + self.steppers[0].step_itersolve(cmove) if axes_d[2]: self.rails[1].step_itersolve(cmove) def get_status(self): |