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add E axis

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This commit is contained in:
Nikolay Khabarov
2017-05-27 18:47:01 +03:00
parent 665ba2ad1e
commit a87e2a379b
11 changed files with 238 additions and 147 deletions
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cnc/hal_virtual.py
+21 -9
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@@ -31,13 +31,13 @@ def move_linear(delta, velocity):
:param velocity: velocity in mm per min
"""
logging.info("move {} with velocity {}".format(delta, velocity))
ix = iy = iz = 0
ix = iy = iz = ie = 0
generator = PulseGeneratorLinear(delta, velocity)
lx, ly, lz = None, None, None
dx, dy, dz = 0, 0, 0
mx, my, mz = 0, 0, 0
lx, ly, lz, le = None, None, None, None
dx, dy, dz, de = 0, 0, 0, 0
mx, my, mz, me = 0, 0, 0, 0
st = time.time()
for tx, ty, tz in generator:
for tx, ty, tz, te in generator:
if tx is not None:
if tx > mx:
mx = tx
@@ -71,16 +71,28 @@ def move_linear(delta, velocity):
lz = tz
else:
dz = None
if te is not None:
if te > me:
me = te
te = int(round(te * 1000000))
ie += 1
if le is not None:
de = te - le
assert de > 0, "negative or zero time delta detected for e"
le = te
else:
de = None
# very verbose, uncomment on demand
# logging.debug("Iteration {} is {} {} {}".format(max(ix, iy, iz), tx, ty, tz))
f = list(x for x in (tx, ty, tz) if x is not None)
# logging.debug("Iteration {} is {} {} {} {}".format(max(ix, iy, iz, ie), tx, ty, tz, te))
f = list(x for x in (tx, ty, tz, te) if x is not None)
assert f.count(f[0]) == len(f), "fast forwarded pulse detected"
pt = time.time()
assert ix / STEPPER_PULSES_PER_MM_X == abs(delta.x), "x wrong number of pulses"
assert iy / STEPPER_PULSES_PER_MM_Y == abs(delta.y), "y wrong number of pulses"
assert iz / STEPPER_PULSES_PER_MM_Z == abs(delta.z), "z wrong number of pulses"
assert max(mx, my, mz) <= generator.total_time_s(), "interpolation time or pulses wrong"
logging.debug("Did {}, {}, {} iterations".format(ix, iy, iz))
assert ie / STEPPER_PULSES_PER_MM_E == abs(delta.e), "e wrong number of pulses"
assert max(mx, my, mz, me) <= generator.total_time_s(), "interpolation time or pulses wrong"
logging.debug("Did {}, {}, {}, {} iterations".format(ix, iy, iz, ie))
logging.info("prepared in " + str(round(pt - st, 2)) \
+ "s, estimated " + str(round(generator.total_time_s(), 2)) + "s")