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extruder: Convert to using iterative solver

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-13 16:53:25 -04:00
parent 7148ebd565
commit bbe53cf8e5
5 changed files with 104 additions and 74 deletions
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54
klippy/chelper/kin_extruder.c Normal file
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// Extruder stepper pulse time generation
//
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
#include "pyhelper.h" // errorf
static double
extruder_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return m->start_pos.x + move_get_distance(m, move_time);
}
struct stepper_kinematics * __visible
extruder_stepper_alloc(void)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
sk->calc_position = extruder_calc_position;
return sk;
}
// Populate a 'struct move' with an extruder velocity trapezoid
void __visible
extruder_move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos
, double start_v, double cruise_v, double accel
, double extra_accel_v, double extra_decel_v)
{
// Setup velocity trapezoid
m->print_time = print_time;
m->move_t = accel_t + cruise_t + decel_t;
m->accel_t = accel_t;
m->cruise_t = cruise_t;
m->cruise_start_d = accel_t * (.5 * (cruise_v + start_v) + extra_accel_v);
m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
// Setup for accel/cruise/decel phases
m->cruise_v = cruise_v;
m->accel.c1 = start_v + extra_accel_v;
m->accel.c2 = .5 * accel;
m->decel.c1 = cruise_v + extra_decel_v;
m->decel.c2 = -m->accel.c2;
// Setup start distance
m->start_pos.x = start_pos;
}