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stepcompress: Add comment on common suffixes and units 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-07 20:20:34 -04:00
parent 657c908f88
commit 1cdddeec30
1 changed files with 8 additions and 0 deletions
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klippy/stepcompress.c
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@ -463,6 +463,14 @@ stepcompress_push(struct stepcompress *sc, double step_clock, int32_t sdir)
return 0;
}
// Common suffixes: _sd is step distance (a unit length the same
// distance the stepper moves on each step), _sv is step velocity (in
// units of step distance per clock tick), _sd2 is step distance
// squared, _r is ratio (scalar usually between 0.0 and 1.0). Times
// are represented as clock ticks (a unit of time determined by a
// micro-controller tick) and acceleration is in units of step
// distance per clock ticks squared.
// Schedule 'steps' number of steps at constant acceleration. If
// acceleration is zero (ie, constant velocity) it uses the formula:
// step_clock = clock_offset + step_num/start_sv