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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-10-28 22:59:07 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 15:51:51 -0500 |
| commit | b792e0fdd1fbd27816f7b1524412bc22742677a5 (patch) | |
| tree | 32a02d27867afbb2da89f95cebebca5ca5636c4c /klippy/kinematics/corexy.py | |
| parent | 7afac2b3afb519e742e33dca62db5d9657f10ee0 (diff) | |
| download | kutter-b792e0fdd1fbd27816f7b1524412bc22742677a5.tar.gz kutter-b792e0fdd1fbd27816f7b1524412bc22742677a5.tar.xz kutter-b792e0fdd1fbd27816f7b1524412bc22742677a5.zip | |
corexy: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/kinematics/corexy.py')
| -rw-r--r-- | klippy/kinematics/corexy.py | 28 |
1 files changed, 5 insertions, 23 deletions
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 2470787e..16915f3d 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -1,6 +1,6 @@ # Code for handling the kinematics of corexy robots # -# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2017-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math @@ -17,13 +17,15 @@ class CoreXYKinematics: self.rails[0].setup_itersolve('corexy_stepper_alloc', '+') self.rails[1].setup_itersolve('corexy_stepper_alloc', '-') self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z') + for s in self.get_steppers(): + s.set_trapq(toolhead.get_trapq()) + toolhead.register_move_handler(s.generate_steps) # Setup boundary checks max_velocity, max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( 'max_z_velocity', max_velocity, above=0., maxval=max_velocity) self.max_z_accel = config.getfloat( 'max_z_accel', max_accel, above=0., maxval=max_accel) - self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 # Setup stepper max halt velocity max_halt_velocity = toolhead.get_max_axis_halt() @@ -65,17 +67,6 @@ class CoreXYKinematics: self.limits = [(1.0, -1.0)] * 3 for rail in self.rails: rail.motor_enable(print_time, 0) - self.need_motor_enable = True - def _check_motor_enable(self, print_time, move): - if move.axes_d[0] or move.axes_d[1]: - self.rails[0].motor_enable(print_time, 1) - self.rails[1].motor_enable(print_time, 1) - if move.axes_d[2]: - self.rails[2].motor_enable(print_time, 1) - need_motor_enable = False - for rail in self.rails: - need_motor_enable |= not rail.is_motor_enabled() - self.need_motor_enable = need_motor_enable def _check_endstops(self, move): end_pos = move.end_pos for i in (0, 1, 2): @@ -101,16 +92,7 @@ class CoreXYKinematics: move.limit_speed( self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) def move(self, print_time, move): - if self.need_motor_enable: - self._check_motor_enable(print_time, move) - axes_d = move.axes_d - cmove = move.cmove - rail_x, rail_y, rail_z = self.rails - if axes_d[0] or axes_d[1]: - rail_x.step_itersolve(cmove) - rail_y.step_itersolve(cmove) - if axes_d[2]: - rail_z.step_itersolve(cmove) + pass def get_status(self): return {'homed_axes': "".join([a for a, (l, h) in zip("XYZ", self.limits) if l <= h]) |