mirror of https://github.com/Desuuuu/klipper.git
56 lines
1.7 KiB
C
56 lines
1.7 KiB
C
// Extruder stepper pulse time generation
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//
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// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "pyhelper.h" // errorf
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#include "trapq.h" // move_get_distance
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static double
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extruder_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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return m->start_pos.x + move_get_distance(m, move_time);
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}
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struct stepper_kinematics * __visible
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extruder_stepper_alloc(void)
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{
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struct stepper_kinematics *sk = malloc(sizeof(*sk));
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memset(sk, 0, sizeof(*sk));
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sk->calc_position_cb = extruder_calc_position;
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return sk;
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}
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// Populate a 'struct move' with an extruder velocity trapezoid
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void __visible
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extruder_move_fill(struct move *m, double print_time
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, double accel_t, double cruise_t, double decel_t
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, double start_pos
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, double start_v, double cruise_v, double accel
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, double extra_accel_v, double extra_decel_v)
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{
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// Setup velocity trapezoid
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m->print_time = print_time;
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m->move_t = accel_t + cruise_t + decel_t;
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m->accel_t = accel_t;
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m->cruise_t = cruise_t;
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m->cruise_start_d = accel_t * (.5 * (cruise_v + start_v) + extra_accel_v);
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m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
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// Setup for accel/cruise/decel phases
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m->cruise_v = cruise_v;
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m->accel.c1 = start_v + extra_accel_v;
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m->accel.c2 = .5 * accel;
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m->decel.c1 = cruise_v + extra_decel_v;
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m->decel.c2 = -m->accel.c2;
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// Setup start distance
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m->start_pos.x = start_pos;
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}
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