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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/delta.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/delta.py')
| -rw-r--r-- | klippy/kinematics/delta.py | 10 |
1 files changed, 1 insertions, 9 deletions
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index ac023242..2e51681d 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -62,8 +62,6 @@ class DeltaKinematics: for angle in self.angles] # 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 for r, a, t in zip(self.rails, self.arm2, self.towers): sk = ffi_main.gc(ffi_lib.delta_stepper_alloc(a, t[0], t[1]), ffi_lib.free) @@ -163,14 +161,8 @@ class DeltaKinematics: def move(self, print_time, move): if self.need_motor_enable: self._check_motor_enable(print_time) - self.move_fill( - self.cmove, print_time, - move.accel_t, move.cruise_t, move.decel_t, - move.start_pos[0], move.start_pos[1], move.start_pos[2], - move.axes_d[0], move.axes_d[1], move.axes_d[2], - move.start_v, move.cruise_v, move.accel) for rail in self.rails: - rail.step_itersolve(self.cmove) + rail.step_itersolve(move.cmove) # Helper functions for DELTA_CALIBRATE script def get_stable_position(self): steppers = [rail.get_steppers()[0] for rail in self.rails] |