Store the pressure_advance value in "struct extruder_stepper" instead
of in the trapq's "struct move". This makes it possible for multiple
stepper motors to have different pressure advance values while still
using the same trapq.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid using the absolute E position when calculating pressure advance
as that position can grow arbitrarily large, which can result in
"numerical stability" problems. That instability could eventually
lead to internal errors during step compression.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement the pressure advance calculations while performing the
definitive integral calculations. This simplifies both the
extruder.py and kin_extruder.c code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support averaging the extruder position over a time range to "smooth
out" the velocity changes that occur during pressure advance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements. This simplifies the calculation logic.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor