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, 9 insertions, 11 deletions

diff --git a/klippy/delta.py b/klippy/delta.py
index fc796cd4..5533e83c 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -12,13 +12,11 @@ StepList = (0, 1, 2)
 SLOW_RATIO = 3.
 
 class DeltaKinematics:
-    def __init__(self, printer, config):
-        self.config = config
+    def __init__(self, toolhead, printer, config):
         self.steppers = [stepper.PrinterHomingStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['a', 'b', 'c']]
         self.need_motor_enable = self.need_home = True
-        self.max_velocity = self.max_z_velocity = self.max_accel = 0.
         radius = config.getfloat('delta_radius', above=0.)
         arm_length = config.getfloat('delta_arm_length', above=radius)
         self.arm_length2 = arm_length**2
@@ -29,6 +27,14 @@ class DeltaKinematics:
         logging.info(
             "Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
                 self.max_z, self.limit_z))
+        # Setup stepper max halt velocity
+        self.max_velocity, self.max_accel = toolhead.get_max_velocity()
+        self.max_z_velocity = config.getfloat(
+            'max_z_velocity', self.max_velocity,
+            above=0., maxval=self.max_velocity)
+        max_xy_halt_velocity = toolhead.get_max_axis_halt(self.max_accel)
+        for s in self.steppers:
+            s.set_max_jerk(max_xy_halt_velocity, self.max_accel)
         # Determine tower locations in cartesian space
         angles = [config.getsection('stepper_a').getfloat('angle', 210.),
                   config.getsection('stepper_b').getfloat('angle', 330.),
@@ -52,14 +58,6 @@ class DeltaKinematics:
             % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
                math.sqrt(self.very_slow_xy2)))
         self.set_position([0., 0., 0.])
-    def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
-        self.max_velocity = max_velocity
-        max_z_velocity = self.config.getfloat(
-            'max_z_velocity', max_velocity, above=0.)
-        self.max_z_velocity = min(max_velocity, max_z_velocity)
-        self.max_accel = max_accel
-        for stepper in self.steppers:
-            stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
     def _cartesian_to_actuator(self, coord):
         return [math.sqrt(self.arm_length2
                           - (self.towers[i][0] - coord[0])**2