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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 10:49:14 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 14:47:00 -0400 |
| commit | 85ed5cef7fe483d921b1081b4664c35ad4e64967 (patch) | |
| tree | debf8f541c7581c55ff2833c0ae2bc42d6e79d4a /klippy/delta.py | |
| parent | df42b0d1ac0b303025c8762fa727d79bc01a28a3 (diff) | |
| download | kutter-85ed5cef7fe483d921b1081b4664c35ad4e64967.tar.gz kutter-85ed5cef7fe483d921b1081b4664c35ad4e64967.tar.xz kutter-85ed5cef7fe483d921b1081b4664c35ad4e64967.zip | |
stepcompress: Merge stepcompress_delta_const and stepcompress_delta_accel
It's not necessary to have separate C delta kinematic 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/delta.py')
| -rw-r--r-- | klippy/delta.py | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 9ae72810..5913e53a 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -228,28 +228,28 @@ class DeltaKinematics: mcu_stepper = self.steppers[i].mcu_stepper mcu_time = mcu_stepper.print_to_mcu_time(move_time) if accel_up_d > 0.: - mcu_stepper.step_delta_accel( + mcu_stepper.step_delta( mcu_time, 0., accel_up_d, move.start_v, accel, origz, closestxy_d, closest_height2, movez_r) if cruise_up_d > 0.: - mcu_stepper.step_delta_const( - mcu_time + accel_t, accel_d, cruise_up_d, cruise_v, + mcu_stepper.step_delta( + mcu_time + accel_t, accel_d, cruise_up_d, cruise_v, 0., origz, closestxy_d, closest_height2, movez_r) if decel_up_d > 0.: - mcu_stepper.step_delta_accel( + mcu_stepper.step_delta( mcu_time + cruise_end_t, cruise_end_d, decel_up_d, cruise_v, -accel, origz, closestxy_d, closest_height2, movez_r) if accel_down_d > 0.: - mcu_stepper.step_delta_accel( + mcu_stepper.step_delta( mcu_time, 0., -accel_down_d, move.start_v, accel, origz, closestxy_d, closest_height2, movez_r) if cruise_down_d > 0.: - mcu_stepper.step_delta_const( - mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v, + mcu_stepper.step_delta( + mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v, 0., origz, closestxy_d, closest_height2, movez_r) if decel_down_d > 0.: - mcu_stepper.step_delta_accel( + mcu_stepper.step_delta( mcu_time + cruise_end_t, cruise_end_d, -decel_down_d, cruise_v, -accel, origz, closestxy_d, closest_height2, movez_r) |