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toolhead: Calculate and store axes_r in move class 

Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r.  This avoids
needing to recalculate the value in other code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-06 08:41:50 -05:00
parent 257058981e
commit 86121ff79e
7 changed files with 30 additions and 30 deletions
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2
klippy/chelper/__init__.py
View File

@ -61,7 +61,7 @@ defs_trapq = """
void trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double axes_r_x, double axes_r_y, double axes_r_z
, double start_v, double cruise_v, double accel);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);

14
klippy/chelper/trapq.c
View File

@ -25,19 +25,11 @@ void __visible
trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double axes_r_x, double axes_r_y, double axes_r_z
, double start_v, double cruise_v, double accel)
{
struct coord axes_r, start_pos;
double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y
+ axes_d_z*axes_d_z);
axes_r.x = axes_d_x * inv_move_d;
axes_r.y = axes_d_y * inv_move_d;
axes_r.z = axes_d_z * inv_move_d;
start_pos.x = start_pos_x;
start_pos.y = start_pos_y;
start_pos.z = start_pos_z;
struct coord start_pos = { x: start_pos_x, y: start_pos_y, z: start_pos_z };
struct coord axes_r = { x: axes_r_x, y: axes_r_y, z: axes_r_z };
if (accel_t) {
struct move *m = move_alloc();
m->print_time = print_time;

2
klippy/chelper/trapq.h
View File

@ -23,7 +23,7 @@ struct move *move_alloc(void);
void trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double axes_r_x, double axes_r_y, double axes_r_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);

13
klippy/extras/force_move.py
View File

@ -11,16 +11,19 @@ STALL_TIME = 0.100
# Calculate a move's accel_t, cruise_t, and cruise_v
def calc_move_time(dist, speed, accel):
dist = abs(dist)
axis_r = 1.
if dist < 0.:
axis_r = -1.
dist = -dist
if not accel or not dist:
return 0., dist / speed, speed
return axis_r, 0., dist / speed, speed
max_cruise_v2 = dist * accel
if max_cruise_v2 < speed**2:
speed = math.sqrt(max_cruise_v2)
accel_t = speed / accel
accel_decel_d = accel_t * speed
cruise_t = (dist - accel_decel_d) / speed
return accel_t, cruise_t, speed
return axis_r, accel_t, cruise_t, speed
class ForceMove:
def __init__(self, config):
@ -67,9 +70,9 @@ class ForceMove:
print_time = toolhead.get_last_move_time()
prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
stepper.set_position((0., 0., 0.))
accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
axis_r, accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
print_time += accel_t + cruise_t + accel_t
stepper.generate_steps(print_time)
self.trapq_free_moves(self.trapq, print_time)

4
klippy/extras/manual_stepper.py
View File

@ -54,11 +54,11 @@ class ManualStepper:
self.sync_print_time()
cp = self.stepper.get_commanded_position()
dist = movepos - cp
accel_t, cruise_t, cruise_v = force_move.calc_move_time(
axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
dist, speed, accel)
self.trapq_append(self.trapq, self.next_cmd_time,
accel_t, cruise_t, accel_t,
cp, 0., 0., dist, 0., 0.,
cp, 0., 0., axis_r, 0., 0.,
0., cruise_v, accel)
self.next_cmd_time += accel_t + cruise_t + accel_t
self.stepper.generate_steps(self.next_cmd_time)

6
klippy/kinematics/extruder.py
View File

@ -90,7 +90,7 @@ class PrinterExtruder:
def motor_off(self, print_time):
self.stepper.motor_enable(print_time, 0)
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_r = move.axes_r[3]
move.extrude_max_corner_v = 0.
if not self.heater.can_extrude:
raise homing.EndstopError(
@ -111,7 +111,7 @@ class PrinterExtruder:
# Permit extrusion if amount extruded is tiny
move.extrude_r = self.max_extrude_ratio
return
area = move.axes_d[3] * self.filament_area / move.move_d
area = move.axes_r[3] * self.filament_area
logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
move.extrude_r, self.max_extrude_ratio,
area, move.move_d)
@ -172,7 +172,7 @@ class PrinterExtruder:
return flush_count
def move(self, print_time, move):
axis_d = move.axes_d[3]
axis_r = axis_d / move.move_d
axis_r = move.axes_r[3]
accel = move.accel * axis_r
start_v = move.start_v * axis_r
cruise_v = move.cruise_v * axis_r

19
klippy/toolhead.py
View File

@ -27,9 +27,15 @@ class Move:
end_pos[3])
axes_d[0] = axes_d[1] = axes_d[2] = 0.
self.move_d = move_d = abs(axes_d[3])
inv_move_d = 0.
if move_d:
inv_move_d = 1. / move_d
self.accel = 99999999.9
velocity = speed
self.is_kinematic_move = False
else:
inv_move_d = 1. / move_d
self.axes_r = [d * inv_move_d for d in axes_d]
self.min_move_t = move_d / velocity
# Junction speeds are tracked in velocity squared. The
# delta_v2 is the maximum amount of this squared-velocity that
@ -53,12 +59,11 @@ class Move:
# Allow extruder to calculate its maximum junction
extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
# Find max velocity using "approximated centripetal velocity"
axes_d = self.axes_d
prev_axes_d = prev_move.axes_d
junction_cos_theta = -((axes_d[0] * prev_axes_d[0]
+ axes_d[1] * prev_axes_d[1]
+ axes_d[2] * prev_axes_d[2])
/ (self.move_d * prev_move.move_d))
axes_r = self.axes_r
prev_axes_r = prev_move.axes_r
junction_cos_theta = -(axes_r[0] * prev_axes_r[0]
+ axes_r[1] * prev_axes_r[1]
+ axes_r[2] * prev_axes_r[2])
if junction_cos_theta > 0.999999:
return
junction_cos_theta = max(junction_cos_theta, -0.999999)
@ -302,7 +307,7 @@ class ToolHead:
self.trapq, next_move_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_d[0], move.axes_d[1], move.axes_d[2],
move.axes_r[0], move.axes_r[1], move.axes_r[2],
move.start_v, move.cruise_v, move.accel)
if move.axes_d[3]:
self.extruder.move(next_move_time, move)