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itersolve: Support calculating a stepper position from a cartesian coordinate 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-18 11:51:28 -04:00
parent e2b4b1616f
commit cb29143939
5 changed files with 15 additions and 12 deletions
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4
klippy/chelper/__init__.py
View File

@ -1,6 +1,6 @@
# Wrapper around C helper code
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, logging
@ -51,7 +51,7 @@ defs_itersolve = """
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
void itersolve_set_position(struct stepper_kinematics *sk
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);

8
klippy/chelper/itersolve.c
View File

@ -215,14 +215,14 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk
sk->step_dist = step_dist;
}
void __visible
itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z)
double __visible
itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z)
{
struct move m;
memset(&m, 0, sizeof(m));
move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.);
sk->commanded_pos = sk->calc_position(sk, &m, 0.);
return sk->calc_position(sk, &m, 0.);
}
void __visible

4
klippy/chelper/itersolve.h
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@ -41,8 +41,8 @@ struct stepper_kinematics {
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
void itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);

10
klippy/mcu.py
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@ -69,11 +69,13 @@ class MCU_stepper:
return self._oid
def get_step_dist(self):
return self._step_dist
def calc_position_from_coord(self, coord):
return self._ffi_lib.itersolve_calc_position_from_coord(
self._stepper_kinematics, coord[0], coord[1], coord[2])
def set_position(self, newpos):
orig_cmd_pos = self.get_commanded_position()
self._ffi_lib.itersolve_set_position(
self._stepper_kinematics, newpos[0], newpos[1], newpos[2])
self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position()
spos = self.calc_position_from_coord(newpos)
self._mcu_position_offset += self.get_commanded_position() - spos
self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, spos)
def get_commanded_position(self):
return self._ffi_lib.itersolve_get_commanded_pos(
self._stepper_kinematics)

1
klippy/stepper.py
View File

@ -64,6 +64,7 @@ class PrinterStepper:
self.setup_itersolve = self.mcu_stepper.setup_itersolve
self.set_stepper_kinematics = self.mcu_stepper.set_stepper_kinematics
self.set_ignore_move = self.mcu_stepper.set_ignore_move
self.calc_position_from_coord = self.mcu_stepper.calc_position_from_coord
self.set_position = self.mcu_stepper.set_position
self.get_mcu_position = self.mcu_stepper.get_mcu_position
self.get_commanded_position = self.mcu_stepper.get_commanded_position