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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 12:51:52 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 14:43:25 -0400 |
| commit | 98add22891d66d0a9ce21d35b750d20d3671382e (patch) | |
| tree | bae6b300d3b76d3650ea49af09817952a99011c6 /klippy/corexy.py | |
| parent | 1d81bf559657422db7a7dbd7a1f7f5b2b352eb21 (diff) | |
| download | kutter-98add22891d66d0a9ce21d35b750d20d3671382e.tar.gz kutter-98add22891d66d0a9ce21d35b750d20d3671382e.tar.xz kutter-98add22891d66d0a9ce21d35b750d20d3671382e.zip | |
stepcompress: Merge stepcompress_push_accel() and stepcompress_push_const()
It's not necessary to have separate C functions for constant
acceleration and constant velocity as constant velocity can be
obtained by using a constant acceleration of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/corexy.py')
| -rw-r--r-- | klippy/corexy.py | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/klippy/corexy.py b/klippy/corexy.py index b724a4e1..dfee7bb3 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -126,18 +126,19 @@ class CoreXYKinematics: # Acceleration steps if move.accel_r: accel_d = move.accel_r * axis_d - mcu_stepper.step_accel( + mcu_stepper.step_const( mcu_time, start_pos, accel_d, move.start_v * axis_r, accel) start_pos += accel_d mcu_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) + mcu_stepper.step_const( + mcu_time, start_pos, cruise_d, cruise_v, 0.) start_pos += cruise_d mcu_time += move.cruise_t # Deceleration steps if move.decel_r: decel_d = move.decel_r * axis_d - mcu_stepper.step_accel( + mcu_stepper.step_const( mcu_time, start_pos, decel_d, cruise_v, -accel) |