From 1e1364c3d4bc09f39f64f7ac49bf9d51de9694fc Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 19 Nov 2016 11:34:42 -0500 Subject: mcu: Store the stepper position in the mcu_stepper class Move the storage of the stepper location from the kinematic classes to the low-level mcu_stepper class. Signed-off-by: Kevin O'Connor --- klippy/delta.py | 34 ++++++++++++---------------------- 1 file changed, 12 insertions(+), 22 deletions(-) (limited to 'klippy/delta.py') diff --git a/klippy/delta.py b/klippy/delta.py index 9b12cb8a..ca46534c 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -28,7 +28,7 @@ class DeltaKinematics: (cos(210.)*radius, sin(210.)*radius), (cos(330.)*radius, sin(330.)*radius), (cos(90.)*radius, sin(90.)*radius)] - self.stepper_pos = self.cartesian_to_actuator([0., 0., 0.]) + self.set_position([0., 0., 0.]) def build_config(self): for stepper in self.steppers: stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX @@ -77,11 +77,13 @@ class DeltaKinematics: return matrix_sub(circumcenter, matrix_mul(normal, dist)) def set_position(self, newpos): - self.stepper_pos = self.cartesian_to_actuator(newpos) + pos = self.cartesian_to_actuator(newpos) + for i in StepList: + self.steppers[i].mcu_stepper.set_position(pos[i]) def get_homed_position(self, homing_state): - pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset()) - * self.steppers[i].step_dist - for i in StepList] + pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset()) + * s.step_dist + for s in self.steppers] return self.actuator_to_cartesian(pos) def home(self, homing_state): # All axes are homed simultaneously @@ -138,13 +140,12 @@ class DeltaKinematics: 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 - height * inv_step_dist step_dist = self.steppers[i].step_dist steps = move.axes_d[2] * inv_step_dist - step_pos = self.stepper_pos[i] - step_offset = step_pos - height * inv_step_dist - # Acceleration steps accel_multiplier = 2.0 * step_dist * inv_accel if move.accel_r: @@ -155,7 +156,6 @@ class DeltaKinematics: count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) - step_pos += count step_offset += count - accel_steps mcu_time += move.accel_t # Cruising steps @@ -165,7 +165,6 @@ class DeltaKinematics: cruise_steps = move.cruise_r * steps count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) - step_pos += count step_offset += count - cruise_steps mcu_time += move.cruise_t # Deceleration steps @@ -177,8 +176,6 @@ class DeltaKinematics: count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) - step_pos += count - self.stepper_pos[i] = step_pos def move(self, move_time, move): axes_d = move.axes_d if not axes_d[0] and not axes_d[1]: @@ -250,54 +247,47 @@ class DeltaKinematics: decel_down_d = move_d # Generate steps + 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_dist = self.steppers[i].step_dist - step_pos = self.stepper_pos[i] height = step_pos*step_dist - closestz - mcu_stepper = self.steppers[i].mcu_stepper - mcu_time = mcu_stepper.print_to_mcu_time(move_time) if accel_up_d > 0.: count = mcu_stepper.step_delta_accel( mcu_time - accel_time_offset, closest_d - accel_up_d, step_dist, closest_d + accel_offset, closest_height2, height, movez_r, accel_multiplier) - step_pos += count height += count * step_dist if cruise_up_d > 0.: count = mcu_stepper.step_delta_const( mcu_time + accel_t, closest_d - cruise_up_d, step_dist, closest_d - accel_d, closest_height2, height, movez_r, inv_cruise_v) - step_pos += count height += count * step_dist if decel_up_d > 0.: count = mcu_stepper.step_delta_accel( mcu_time + decel_time_offset, closest_d - decel_up_d, step_dist, closest_d - decel_offset, closest_height2, height, movez_r, -accel_multiplier) - step_pos += count height += count * step_dist if accel_down_d > 0.: count = mcu_stepper.step_delta_accel( mcu_time - accel_time_offset, closest_d - accel_down_d, -step_dist, closest_d + accel_offset, closest_height2, height, movez_r, accel_multiplier) - step_pos += count height += count * step_dist if cruise_down_d > 0.: count = mcu_stepper.step_delta_const( mcu_time + accel_t, closest_d - cruise_down_d, -step_dist, closest_d - accel_d, closest_height2, height, movez_r, inv_cruise_v) - step_pos += count height += count * step_dist if decel_down_d > 0.: count = mcu_stepper.step_delta_accel( mcu_time + decel_time_offset, closest_d - decel_down_d, -step_dist, closest_d - decel_offset, closest_height2, height, movez_r, -accel_multiplier) - step_pos += count - self.stepper_pos[i] = step_pos ###################################################################### -- cgit v1.2.3-70-g09d2