When converting 800mm/s2, it would be truncated to 795mm/s2 for the pulley. This is due to cutting out significant decimal digits.
Instead let's multiply in floating point, this needs quite a bit of resources. So to optimise against this, multiply with the recoprical. Then the cost is not more than 20 bytes.
Testing:
M707 A0x0e; Read Pulley Acceleration (default at boot up is 800mm/s2)
M708 A0x0e X790 ; Set Pulley Acceleration to 790mm/s2
M707 A0x0e; Read Pulley Acceleration (should be 790mm/s2)
The results before this commit:
M707 A0x0e -> returns 805
M708 A0x0e X790 ; Set Pulley Acceleration to 790mm/s2
M707 A0x0e; returns 795
After this commit:
M707 A0x0e -> returns 799
M708 A0x0e X790 ; Set Pulley Acceleration to 790mm/s2
M707 A0x0e; returns 789
NOTE:
axisUnitToTruncatedUnit is used in Idler homing, selector homing, and pulley positioning. I am not sure yet how this improvement will affect those areas.
Introduce axisUnitToTruncatedUnit to convert from an AxisUnit (now
conveniently returned from Motion::CurPosition) to a physical unit *but*
directly into a truncated integer type, avoiding conversions to long
double types at runtime.
The related function truncatedUnit perform the same truncation of a
constant unit, so that the result of axisUnitToTruncatedUnit and
truncatedUnit(unit) result in the same type for clarity.
Both functions accept a pre-multiplier, which is applied at compile
time for constant values when optimizations are enabled.
This solves a number of issues - if FINDA or FSensor failed,
the unload was never "complete" - filament was stuck in the selector
blocking it from normal operation.
Now, after all errors have been resolved, filament is explicitly FED
into FINDA and then RETRACTED to Pulley.
This allows Unit<> and AxisUnit<> to be scaled with a fraction as
expected, promoting the scaler to the same unit:
0.2_mm * 10 => 2_mm (mm*f => mm)
Multiplication type is commutative:
10 * 0.2_mm => 2_mm (f*mm => mm)
Division isn't:
0.2_mm / 10 => 0.02_mm (mm*1/f => mm)
10 / 0.2_mm => error (illegal type conversion)
- Move unit/step conversion to modules/axisunit.h
- Unify motion::unitToAxisUnit<> and motion::unitToSteps<>,
making conversion in other modules just as easy as motion.
- Improve the documentation
Introduces:
- config::Unit: base class for physical quantities
- motion::AxisUnit: type-checked steps type
"config/unit.h" defines basic physical quantities, which are not
normally used elsewhere besides config.h.
"modules/axisunit.h" extends the modules::motion namespace with
Axis-aware units, with one type per axis per unit.
P_pos_t defines step positions for the pulley, I_pos_t for the idler,
etc. These are defined through the literar operators which are
similarly named and automatically convert a physical quantity to an
AxisUnit at compile time:
P_pos_t pulley_pos = 10.0_P_mm;
Besides type-checking, AxisUnit are otherwise identical to raw step
counts and are intended to be used along with the updated Motion API.
PlanMove/PlanMoveTo has been extended to support moves using these units
or physical quantities. Again, conversion is performed at compile time.
Guðni Már Gilbert
D.R.racer
Yuri D'Elia