toolhead: Eliminate set_max_jerk() from kinematic classes

Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 8 insertions, 5 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index ee27f7b3..10c5b5f2 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -9,20 +9,23 @@ import stepper, homing
 StepList = (0, 1, 2)
 
 class CartKinematics:
-    def __init__(self, printer, config):
+    def __init__(self, toolhead, printer, config):
         self.steppers = [stepper.PrinterHomingStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['x', 'y', 'z']]
+        max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
-            'max_z_velocity', 9999999.9, above=0.)
+            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
         self.max_z_accel = config.getfloat(
-            'max_z_accel', 9999999.9, above=0.)
+            'max_z_accel', max_accel, above=0., maxval=max_accel)
         self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
-    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
+        # Setup stepper max halt velocity
+        max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
         self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
         self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
-        self.steppers[2].set_max_jerk(0., self.max_z_accel)
+        max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
+        self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
     def set_position(self, newpos):
         for i in StepList:
             self.steppers[i].mcu_stepper.set_position(newpos[i])