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mcu: convert stepper, endstop, and digital_out to take mcu_time

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-08-24 16:42:25 -04:00
parent 11ecac626d
commit e52113a319
5 changed files with 79 additions and 86 deletions
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37
klippy/extruder.py
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@@ -77,8 +77,7 @@ class PrinterExtruder:
if steps < 0:
sdir = 1
steps = -steps
clock_offset, clock_freq, so = self.stepper.prep_move(
sdir, move_time)
mcu_time, so = self.stepper.prep_move(move_time, sdir)
step_dist = forward_d / steps
inv_step_dist = 1. / step_dist
@@ -86,28 +85,28 @@ class PrinterExtruder:
# Acceleration steps
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_clock_offset = start_v * inv_accel * clock_freq
accel_sqrt_offset = accel_clock_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2
accel_time_offset = start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel
accel_steps = accel_d * inv_step_dist
step_offset = so.step_sqrt(
accel_steps, step_offset, clock_offset - accel_clock_offset
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
clock_offset += accel_t * clock_freq
mcu_time += accel_t
# Cruising steps
#t = pos/cruise_v
cruise_multiplier = step_dist * clock_freq / cruise_v
cruise_multiplier = step_dist / cruise_v
cruise_steps = cruise_d * inv_step_dist
step_offset = so.step_factor(
cruise_steps, step_offset, clock_offset, cruise_multiplier)
clock_offset += cruise_t * clock_freq
mcu_time, cruise_steps, step_offset, cruise_multiplier)
mcu_time += cruise_t
# Deceleration steps
#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
decel_clock_offset = decel_v * inv_accel * clock_freq
decel_sqrt_offset = decel_clock_offset**2
decel_time_offset = decel_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
decel_steps = decel_d * inv_step_dist
so.step_sqrt(
decel_steps, step_offset, clock_offset + decel_clock_offset
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)
# Determine retract steps
@@ -116,15 +115,15 @@ class PrinterExtruder:
steps = self.stepper_pos - new_step_pos
if steps:
self.stepper_pos = new_step_pos
clock_offset, clock_freq, so = self.stepper.prep_move(
1, move_time+accel_t+cruise_t+decel_t)
mcu_time, so = self.stepper.prep_move(
move_time+accel_t+cruise_t+decel_t, 1)
step_dist = retract_d / steps
# Acceleration steps
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_clock_offset = retract_v * inv_accel * clock_freq
accel_sqrt_offset = accel_clock_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel * clock_freq**2
so.step_sqrt(steps, 0.5, clock_offset - accel_clock_offset
accel_time_offset = retract_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_multiplier = 2.0 * step_dist * inv_accel
so.step_sqrt(mcu_time - accel_time_offset, steps, 0.5
, accel_sqrt_offset, accel_multiplier)