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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-07-13 10:52:40 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-07-13 11:37:20 -0400 |
| commit | b9885965195d1e25cbfec887e5794c59f775f897 (patch) | |
| tree | caba24431d1d44b24c11a8cf5907463b51a91114 /klippy/kinematics/corexy.py | |
| parent | 8faab46ed2fc05495e63bbca8fe3dfa6828f7db3 (diff) | |
| download | kutter-b9885965195d1e25cbfec887e5794c59f775f897.tar.gz kutter-b9885965195d1e25cbfec887e5794c59f775f897.tar.xz kutter-b9885965195d1e25cbfec887e5794c59f775f897.zip | |
toolhead: Fill cmove in toolhead instead of in each kinematic class
This simplifies the kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/kinematics/corexy.py')
| -rw-r--r-- | klippy/kinematics/corexy.py | 10 |
1 files changed, 1 insertions, 9 deletions
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 931793e7..259a6eeb 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -22,8 +22,6 @@ class CoreXYKinematics: self.limits = [(1.0, -1.0)] * 3 # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() - self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) - self.move_fill = ffi_lib.move_fill self.rails[0].setup_itersolve(ffi_main.gc( ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free)) self.rails[1].setup_itersolve(ffi_main.gc( @@ -128,13 +126,7 @@ class CoreXYKinematics: if self.need_motor_enable: self._check_motor_enable(print_time, move) axes_d = move.axes_d - cmove = self.cmove - self.move_fill( - cmove, print_time, - move.accel_t, move.cruise_t, move.decel_t, - move.start_pos[0], move.start_pos[1], move.start_pos[2], - axes_d[0], axes_d[1], axes_d[2], - move.start_v, move.cruise_v, move.accel) + cmove = move.cmove rail_x, rail_y, rail_z = self.rails if axes_d[0] or axes_d[1]: rail_x.step_itersolve(cmove) |