From c4b1a79db26d2e6bcc43d39822f854256cc30a10 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Tue, 4 Apr 2017 12:31:03 -0400
Subject: mcu: Pass constant velocity and acceleration directly to mcu_stepper

Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds.  This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 klippy/cartesian.py | 46 ++++++++++++++++------------------------------
 1 file changed, 16 insertions(+), 30 deletions(-)

(limited to 'klippy/cartesian.py')

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 2dc0df3d..6ec12a5b 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -99,46 +99,32 @@ class CartKinematics:
     def move(self, move_time, move):
         if self.need_motor_enable:
             self._check_motor_enable(move_time, move)
-        inv_accel = 1. / move.accel
-        inv_cruise_v = 1. / move.cruise_v
         for i in StepList:
-            if not move.axes_d[i]:
+            axis_d = move.axes_d[i]
+            if not axis_d:
                 continue
             mcu_stepper = self.steppers[i].mcu_stepper
             mcu_time = mcu_stepper.print_to_mcu_time(move_time)
-            step_pos = mcu_stepper.commanded_position
-            inv_step_dist = self.steppers[i].inv_step_dist
-            step_offset = step_pos - move.start_pos[i] * inv_step_dist
-            steps = move.axes_d[i] * inv_step_dist
-            move_step_d = move.move_d / abs(steps)
+            start_pos = move.start_pos[i]
+            axis_r = abs(axis_d) / move.move_d
+            accel = move.accel * axis_r
+            cruise_v = move.cruise_v * axis_r
 
             # Acceleration steps
-            accel_multiplier = 2.0 * move_step_d * inv_accel
             if move.accel_r:
-                #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
-                accel_time_offset = move.start_v * inv_accel
-                accel_sqrt_offset = accel_time_offset**2
-                accel_steps = move.accel_r * steps
-                count = mcu_stepper.step_sqrt(
-                    mcu_time - accel_time_offset, accel_steps, step_offset
-                    , accel_sqrt_offset, accel_multiplier)
-                step_offset += count - accel_steps
+                accel_d = move.accel_r * axis_d
+                mcu_stepper.step_accel(
+                    mcu_time, start_pos, accel_d, move.start_v * axis_r, accel)
+                start_pos += accel_d
                 mcu_time += move.accel_t
             # Cruising steps
             if move.cruise_r:
-                #t = pos/cruise_v
-                cruise_multiplier = move_step_d * inv_cruise_v
-                cruise_steps = move.cruise_r * steps
-                count = mcu_stepper.step_factor(
-                    mcu_time, cruise_steps, step_offset, cruise_multiplier)
-                step_offset += count - cruise_steps
+                cruise_d = move.cruise_r * axis_d
+                mcu_stepper.step_const(mcu_time, start_pos, cruise_d, cruise_v)
+                start_pos += cruise_d
                 mcu_time += move.cruise_t
             # Deceleration steps
             if move.decel_r:
-                #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
-                decel_time_offset = move.cruise_v * inv_accel
-                decel_sqrt_offset = decel_time_offset**2
-                decel_steps = move.decel_r * steps
-                count = mcu_stepper.step_sqrt(
-                    mcu_time + decel_time_offset, decel_steps, step_offset
-                    , decel_sqrt_offset, -accel_multiplier)
+                decel_d = move.decel_r * axis_d
+                mcu_stepper.step_accel(
+                    mcu_time, start_pos, decel_d, cruise_v, -accel)
-- 
cgit v1.2.3-70-g09d2