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docs: Minor updates to Code_Overview.md 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2018-07-03 13:33:48 -04:00
parent 80bcafda77
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1 changed files with 13 additions and 12 deletions
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docs/Code_Overview.md
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@ -149,7 +149,7 @@ provides further information on the mechanics of moves.
zero duration.
* When Move.move() is called, everything about the move is known -
its start location, its end location, its acceleration, its
start/crusing/end velocity, and distance traveled during
start/cruising/end velocity, and distance traveled during
acceleration/cruising/deceleration. All the information is stored in
the Move() class and is in cartesian space in units of millimeters
and seconds.
@ -176,14 +176,14 @@ provides further information on the mechanics of moves.
the stepper pulse times are generated in C code. The code flow is:
`kin.move() -> MCU_Stepper.step_itersolve() ->
itersolve_gen_steps()` (in klippy/chelper/itersolve.c). The goal of
the iterative solver is to find step times given a formula that
calculates a stepper position from a given time in a move. This is
done by repeatedly "guessing" various times until the stepper
position formula returns the desired position of the next step on
the stepper. The feedback produced from each guess is used to
improve future guesses so that the process rapidly converges to the
desired time. The kinematic stepper position formulas are located in
the klippy/chelper/ directory (eg, kin_cart.c, kin_corexy.c,
the iterative solver is to find step times given a function that
calculates a stepper position from a time. This is done by
repeatedly "guessing" various times until the stepper position
formula returns the desired position of the next step on the
stepper. The feedback produced from each guess is used to improve
future guesses so that the process rapidly converges to the desired
time. The kinematic stepper position formulas are located in the
klippy/chelper/ directory (eg, kin_cart.c, kin_corexy.c,
kin_delta.c, kin_extruder.c).
* After the iterative solver calculates the step times they are added
@ -320,9 +320,10 @@ Useful steps:
calculate the desired stepper position (in millimeters) from that
cartesian coordinate.
4. Implement the `calc_position()` method in the new kinematics class.
This method is the inverse of set_position(). It does not need to
be efficient as it is typically only called during homing and
probing operations.
This method calculates the position of the toolhead in cartesian
coordinates from the current position of each stepper. It does not
need to be efficient as it is typically only called during homing
and probing operations.
5. Other methods. The `move()`, `home()`, `check_move()`, and other
methods should also be implemented. These functions are typically
used to provide kinematic specific checks. However, at the start of