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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-09-12 12:47:40 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-09-19 17:25:42 -0400 |
| commit | a100f174f98dc4294654da6f3145530fa05813c4 (patch) | |
| tree | 5f46853022d8547d716dc6a54247c4acd3297d78 /klippy/cartesian.py | |
| parent | 5dfe4e1eb977dada5ae29fa03fc0f17964d7c2dc (diff) | |
| download | kutter-a100f174f98dc4294654da6f3145530fa05813c4.tar.gz kutter-a100f174f98dc4294654da6f3145530fa05813c4.tar.xz kutter-a100f174f98dc4294654da6f3145530fa05813c4.zip | |
mcu: Pass print_time directly to MCU calls
Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 10c5b5f2..bc5ead70 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -62,16 +62,16 @@ class CartKinematics: # Set final homed position coord[axis] = s.position_endstop + s.get_homed_offset() homing_state.set_homed_position(coord) - def motor_off(self, move_time): + def motor_off(self, print_time): self.limits = [(1.0, -1.0)] * 3 for stepper in self.steppers: - stepper.motor_enable(move_time, 0) + stepper.motor_enable(print_time, 0) self.need_motor_enable = True - def _check_motor_enable(self, move_time, move): + def _check_motor_enable(self, print_time, move): need_motor_enable = False for i in StepList: if move.axes_d[i]: - self.steppers[i].motor_enable(move_time, 1) + self.steppers[i].motor_enable(print_time, 1) need_motor_enable |= self.steppers[i].need_motor_enable self.need_motor_enable = need_motor_enable def query_endstops(self, print_time): @@ -101,15 +101,15 @@ class CartKinematics: z_ratio = move.move_d / abs(move.axes_d[2]) move.limit_speed( self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) - def move(self, move_time, move): + def move(self, print_time, move): if self.need_motor_enable: - self._check_motor_enable(move_time, move) + self._check_motor_enable(print_time, move) for i in StepList: axis_d = move.axes_d[i] if not axis_d: continue mcu_stepper = self.steppers[i].mcu_stepper - mcu_time = mcu_stepper.print_to_mcu_time(move_time) + move_time = print_time start_pos = move.start_pos[i] axis_r = abs(axis_d) / move.move_d accel = move.accel * axis_r @@ -119,18 +119,18 @@ class CartKinematics: if move.accel_r: accel_d = move.accel_r * axis_d mcu_stepper.step_const( - mcu_time, start_pos, accel_d, move.start_v * axis_r, accel) + move_time, start_pos, accel_d, move.start_v * axis_r, accel) start_pos += accel_d - mcu_time += move.accel_t + move_time += move.accel_t # Cruising steps if move.cruise_r: cruise_d = move.cruise_r * axis_d mcu_stepper.step_const( - mcu_time, start_pos, cruise_d, cruise_v, 0.) + move_time, start_pos, cruise_d, cruise_v, 0.) start_pos += cruise_d - mcu_time += move.cruise_t + move_time += move.cruise_t # Deceleration steps if move.decel_r: decel_d = move.decel_r * axis_d mcu_stepper.step_const( - mcu_time, start_pos, decel_d, cruise_v, -accel) + move_time, start_pos, decel_d, cruise_v, -accel) |