diff options
| author | Kevin O'Connor <kevin@koconnor.net> | 2016-11-19 11:34:42 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-19 11:34:42 -0500 |
| commit | 1e1364c3d4bc09f39f64f7ac49bf9d51de9694fc (patch) | |
| tree | 4b838b410ca61f4961f13cde25e6f0ed8fa5acbe /klippy/extruder.py | |
| parent | 7cf914537b34b1ecdd51fceefb8f89790cc0bb8d (diff) | |
| download | kutter-1e1364c3d4bc09f39f64f7ac49bf9d51de9694fc.tar.gz kutter-1e1364c3d4bc09f39f64f7ac49bf9d51de9694fc.tar.xz kutter-1e1364c3d4bc09f39f64f7ac49bf9d51de9694fc.zip | |
mcu: Store the stepper position in the mcu_stepper class
Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/extruder.py')
| -rw-r--r-- | klippy/extruder.py | 10 |
1 files changed, 2 insertions, 8 deletions
diff --git a/klippy/extruder.py b/klippy/extruder.py index 823ed599..0ca57eba 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -12,7 +12,6 @@ class PrinterExtruder: self.stepper = stepper.PrinterStepper(printer, config, 'extruder') self.pressure_advance = config.getfloat('pressure_advance', 0.) self.need_motor_enable = True - self.stepper_pos = 0 self.extrude_pos = 0. def build_config(self): self.heater.build_config() @@ -95,12 +94,12 @@ class PrinterExtruder: decel_d -= extra_decel_d # Prepare for steps - stepper_pos = self.stepper_pos inv_step_dist = self.stepper.inv_step_dist step_dist = self.stepper.step_dist mcu_stepper = self.stepper.mcu_stepper mcu_time = mcu_stepper.print_to_mcu_time(move_time) - step_offset = stepper_pos - start_pos * inv_step_dist + step_pos = mcu_stepper.commanded_position + step_offset = step_pos - start_pos * inv_step_dist # Acceleration steps accel_multiplier = 2.0 * step_dist * inv_accel @@ -112,7 +111,6 @@ class PrinterExtruder: count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) - stepper_pos += count step_offset += count - accel_steps mcu_time += accel_t # Cruising steps @@ -122,7 +120,6 @@ class PrinterExtruder: cruise_steps = cruise_d * inv_step_dist count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) - stepper_pos += count step_offset += count - cruise_steps mcu_time += cruise_t # Deceleration steps @@ -134,7 +131,6 @@ class PrinterExtruder: count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) - stepper_pos += count step_offset += count - decel_steps mcu_time += decel_t # Retraction steps @@ -146,7 +142,5 @@ class PrinterExtruder: count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) - stepper_pos += count - self.stepper_pos = stepper_pos self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d |