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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-11-07 12:12:28 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-11-18 17:29:23 -0500 |
| commit | eecf3b6ea87e7d9d67e26e965ebf2fe58339484d (patch) | |
| tree | aa208b3accee14719933c0605d0afab4952407dc /klippy/cartesian.py | |
| parent | fc1d690d75f1b0e5be8a5a3e791007c314156065 (diff) | |
| download | kutter-eecf3b6ea87e7d9d67e26e965ebf2fe58339484d.tar.gz kutter-eecf3b6ea87e7d9d67e26e965ebf2fe58339484d.tar.xz kutter-eecf3b6ea87e7d9d67e26e965ebf2fe58339484d.zip | |
stepper: Store pointers to step_const and step_delta in PrinterStepper
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 12 |
1 files changed, 5 insertions, 7 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index edd7519b..685e0c7e 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -107,7 +107,7 @@ class CartKinematics: axis_d = move.axes_d[i] if not axis_d: continue - mcu_stepper = self.steppers[i].mcu_stepper + step_const = self.steppers[i].step_const move_time = print_time start_pos = move.start_pos[i] axis_r = abs(axis_d) / move.move_d @@ -117,19 +117,17 @@ class CartKinematics: # Acceleration steps if move.accel_r: accel_d = move.accel_r * axis_d - mcu_stepper.step_const( - move_time, start_pos, accel_d, move.start_v * axis_r, accel) + step_const(move_time, start_pos, accel_d, + move.start_v * axis_r, accel) start_pos += accel_d move_time += move.accel_t # Cruising steps if move.cruise_r: cruise_d = move.cruise_r * axis_d - mcu_stepper.step_const( - move_time, start_pos, cruise_d, cruise_v, 0.) + step_const(move_time, start_pos, cruise_d, cruise_v, 0.) start_pos += cruise_d move_time += move.cruise_t # Deceleration steps if move.decel_r: decel_d = move.decel_r * axis_d - mcu_stepper.step_const( - move_time, start_pos, decel_d, cruise_v, -accel) + step_const(move_time, start_pos, decel_d, cruise_v, -accel) |