diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/chelper/kin_polar.c | 10 | ||||
| -rw-r--r-- | klippy/kinematics/polar.py | 11 |
2 files changed, 16 insertions, 5 deletions
diff --git a/klippy/chelper/kin_polar.c b/klippy/chelper/kin_polar.c index cc1f2eab..d1a00273 100644 --- a/klippy/chelper/kin_polar.c +++ b/klippy/chelper/kin_polar.c @@ -1,6 +1,6 @@ // Polar kinematics stepper pulse time generation // -// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -24,8 +24,12 @@ polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m { struct coord c = move_get_coord(m, move_time); // XXX - handle x==y==0 - // XXX - handle angle wrapping - return atan2(c.y, c.x); + double angle = atan2(c.y, c.x); + if (angle - sk->commanded_pos > M_PI) + angle -= 2. * M_PI; + else if (angle - sk->commanded_pos < -M_PI) + angle += 2. * M_PI; + return angle; } struct stepper_kinematics * __visible diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 2930152c..70b314eb 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -1,6 +1,6 @@ # Code for handling the kinematics of polar robots # -# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math @@ -122,8 +122,15 @@ class PolarKinematics: axes_d = move.axes_d cmove = move.cmove if axes_d[0] or axes_d[1]: - self.steppers[0].step_itersolve(cmove) 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) if axes_d[2]: self.rails[1].step_itersolve(cmove) |