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stepcompress: Use addition instead of multiplication on queue add 

Replace multiplication with addition where possible.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-31 02:15:32 -04:00
parent e05c635489
commit 588ecbe868
1 changed files with 12 additions and 10 deletions
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22
klippy/stepcompress.c
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@ -537,31 +537,32 @@ stepcompress_push_const(
int res = sdir ? count : -count;
// Calculate each step time
double pos = step_offset + .5;
if (!accel) {
// Move at constant velocity (zero acceleration)
struct queue_append qa = queue_append_start(sc, clock_offset, .5);
double inv_cruise_sv = 1. / start_sv;
double pos = (step_offset + .5) * inv_cruise_sv;
while (count--) {
ret = queue_append(&qa, pos * inv_cruise_sv);
ret = queue_append(&qa, pos);
if (ret)
return ret;
pos += 1.0;
pos += inv_cruise_sv;
}
queue_append_finish(qa);
} else {
// Move with constant acceleration
double inv_accel = 1. / accel;
pos += .5 * start_sv*start_sv * inv_accel;
double accel_time = start_sv * inv_accel;
struct queue_append qa = queue_append_start(
sc, clock_offset, 0.5 - start_sv * inv_accel);
sc, clock_offset, 0.5 - accel_time);
double accel_multiplier = 2. * inv_accel;
double pos = (step_offset + .5)*accel_multiplier + accel_time*accel_time;
while (count--) {
double v = safe_sqrt(pos * accel_multiplier);
double v = safe_sqrt(pos);
int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
if (ret)
return ret;
pos += 1.0;
pos += accel_multiplier;
}
queue_append_finish(qa);
}
@ -613,12 +614,13 @@ _stepcompress_push_delta(
}
} else if (!movexy_r) {
// Optimized case for Z only moves
double pos = (sdir ? height-end_height : end_height-height);
double pos = ((sdir ? height-end_height : end_height-height)
* inv_cruise_sv);
while (count--) {
int ret = queue_append(&qa, pos * inv_cruise_sv);
int ret = queue_append(&qa, pos);
if (ret)
return ret;
pos += 1.;
pos += inv_cruise_sv;
}
} else {
// General case (handles XY+Z moves)