josh
/
Teacup_Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Simulator: calculate position for corexy correctly 

CoreXY turns the X and Y motors to render a target position differently
than straight cartesian printer does.  From the theory page on corexy.com,
where the motors are called A and B instead of X and Y:

    dx = 1/2(dA + dB), dY = 1/2(dA - dB)
    dA = dX + dY
    dB = dX - dY

Accordingly, each step of a single motor results in half of a step in the
X or Y axis.  To simplify this and not lose steps, make the pos[] array
hold 2*steps instead of single steps.  Adjust back to single steps with
/2 where needed.  Store 2*steps whenever writing to pos[] variables
which are not coreXY driven.

Since each step of X or Y (A or B) affects both X and Y position, send
updates to record_pin for all axes instead of only the "affected" axis.
The function record_pin will ignore reports for pins which did not change
from the previous call.  This also helps us keep from reporting duplicate
positions for half-steps in coreXY mode, too.
This commit is contained in:
Phil Hord 2016-05-19 14:45:51 -04:00 committed by Markus Hitter
parent 59610750dd
commit 750acb41bc
1 changed files with 25 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
simulator/simulator.c
View File

@ -304,7 +304,7 @@ void cli(void) {
#define in false
enum { X_AXIS, Y_AXIS, Z_AXIS, E_AXIS , AXIS_MAX , AXIS_NONE };
static int pos[AXIS_MAX]; ///< Current position in steps
static int pos[AXIS_MAX]; ///< Current position in 2 * steps
static bool direction[PIN_NB];
static bool state[PIN_NB];
@ -314,7 +314,7 @@ static void print_pos(void) {
int i;
if (trace_pos) {
for ( i = X_AXIS ; i < AXIS_MAX ; i++ ) {
sim_info_cont("%c:%5d ", axis[i], pos[i]);
sim_info_cont("%c:%5d ", axis[i], pos[i] / 2);
}
if (verbose > 1)
clearline();
@ -395,9 +395,29 @@ void _WRITE(pin_t pin, bool s) {
default:
break;
}
switch ( axis ) {
#ifdef KINEMATICS_COREXY
case X_AXIS:
pos[X_AXIS] += dir;
pos[Y_AXIS] += dir;
break;
case Y_AXIS:
pos[X_AXIS] += dir;
pos[Y_AXIS] -= dir;
break;
#endif
case Z_AXIS:
case E_AXIS:
default:
pos[axis] += 2 * dir;
break;
case AXIS_NONE:
break;
}
if ( axis != AXIS_NONE ) {
pos[axis] += dir;
record_pin(TRACE_POS + axis, pos[axis], nseconds);
for (int a = X_AXIS; a <= E_AXIS; a++)
record_pin(TRACE_POS + axis, pos[axis] / 2, nseconds);
print_pos();
for (int a = X_AXIS; a < E_AXIS; a++)
@ -413,7 +433,7 @@ static void sim_endstop( int axis ) {
bool on ;
if (axis == AXIS_NONE) return;
else if (pos[axis] <= -10) on = true;
else if (pos[axis] <= -20) on = true;
else if (pos[axis] >= 0) on = false;
else return ;