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calc linear interpolation using iterations, not distanse

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Nikolay Khabarov
2017-06-24 17:50:23 +03:00
parent bad4a82292
commit 8c42491aad
1 changed files with 15 additions and 12 deletions
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27
cnc/pulses.py
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@@ -212,11 +212,10 @@ class PulseGeneratorLinear(PulseGenerator):
:param velocity_mm_per_min: desired velocity.
"""
super(PulseGeneratorLinear, self).__init__(delta_mm)
# this class doesn't care about direction
self._distance_mm = abs(delta_mm) # type: Coordinates
distance_mm = abs(delta_mm) # type: Coordinates
# velocity of each axis
distance_total_mm = self._distance_mm.length()
self.max_velocity_mm_per_sec = self._distance_mm * (
distance_total_mm = distance_mm.length()
self.max_velocity_mm_per_sec = distance_mm * (
velocity_mm_per_min / SECONDS_IN_MINUTE / distance_total_mm)
# acceleration time
self.acceleration_time_s = (self.max_velocity_mm_per_sec.find_max()
@@ -231,7 +230,7 @@ class PulseGeneratorLinear(PulseGenerator):
self.linear_time_s = 0.0
# V = a * t -> V = 2 * S / t, take half of total distance for
# acceleration and braking
self.max_velocity_mm_per_sec = (self._distance_mm
self.max_velocity_mm_per_sec = (distance_mm
/ self.acceleration_time_s)
else:
# calculate linear time
@@ -240,6 +239,10 @@ class PulseGeneratorLinear(PulseGenerator):
* STEPPER_MAX_ACCELERATION_MM_PER_S2
self.linear_time_s = (linear_distance_mm
/ self.max_velocity_mm_per_sec.length())
self._total_pulses_x = round(distance_mm.x * STEPPER_PULSES_PER_MM_X)
self._total_pulses_y = round(distance_mm.y * STEPPER_PULSES_PER_MM_Y)
self._total_pulses_z = round(distance_mm.z * STEPPER_PULSES_PER_MM_Z)
self._total_pulses_e = round(distance_mm.e * STEPPER_PULSES_PER_MM_E)
self._direction = (math.copysign(1, delta_mm.x),
math.copysign(1, delta_mm.y),
math.copysign(1, delta_mm.z),
@@ -253,26 +256,26 @@ class PulseGeneratorLinear(PulseGenerator):
self.max_velocity_mm_per_sec.find_max())
@staticmethod
def __linear(position_mm, distance_mm, velocity_mm_per_sec):
def __linear(i, pulses_per_mm, total_pulses, velocity_mm_per_sec):
""" Helper function for linear movement.
"""
# check if need to calculate for this axis
if distance_mm == 0.0 or position_mm >= distance_mm:
if total_pulses == 0.0 or i >= total_pulses:
return None
# Linear movement, S = V * t -> t = S / V
return position_mm / velocity_mm_per_sec
return i / pulses_per_mm / velocity_mm_per_sec
def _interpolation_function(self, ix, iy, iz, ie):
""" Calculate interpolation values for linear movement, see super class
for details.
"""
t_x = self.__linear(ix / STEPPER_PULSES_PER_MM_X, self._distance_mm.x,
t_x = self.__linear(ix, STEPPER_PULSES_PER_MM_X, self._total_pulses_x,
self.max_velocity_mm_per_sec.x)
t_y = self.__linear(iy / STEPPER_PULSES_PER_MM_Y, self._distance_mm.y,
t_y = self.__linear(iy, STEPPER_PULSES_PER_MM_Y, self._total_pulses_y,
self.max_velocity_mm_per_sec.y)
t_z = self.__linear(iz / STEPPER_PULSES_PER_MM_Z, self._distance_mm.z,
t_z = self.__linear(iz, STEPPER_PULSES_PER_MM_Z, self._total_pulses_z,
self.max_velocity_mm_per_sec.z)
t_e = self.__linear(ie / STEPPER_PULSES_PER_MM_E, self._distance_mm.e,
t_e = self.__linear(ie, STEPPER_PULSES_PER_MM_E, self._total_pulses_e,
self.max_velocity_mm_per_sec.e)
return self._direction, (t_x, t_y, t_z, t_e)