stepper: Do not set min_stop_interval in micro-controller

The min_stop_interval safety check is fragile and leads to a notable
amount of complexity.  Avoid these issues by not programming this
safety check.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

8 files changed, 2 insertions, 42 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index c2ca350a..e2c21900 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -31,12 +31,6 @@ class CartKinematics:
         ranges = [r.get_range() for r in self.rails]
         self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
-        # Setup stepper max halt velocity
-        max_halt_velocity = toolhead.get_max_axis_halt()
-        self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
-        self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
-        self.rails[2].set_max_jerk(min(max_halt_velocity, self.max_z_velocity),
-                                   max_accel)
         # Check for dual carriage support
         if config.has_section('dual_carriage'):
             dc_config = config.getsection('dual_carriage')
@@ -46,7 +40,6 @@ class CartKinematics:
             dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis)
             for s in dc_rail.get_steppers():
                 toolhead.register_step_generator(s.generate_steps)
-            dc_rail.set_max_jerk(max_halt_velocity, max_accel)
             self.dual_carriage_rails = [
                 self.rails[self.dual_carriage_axis], dc_rail]
             self.printer.lookup_object('gcode').register_command(
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 726ba3c6..451a88aa 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -34,14 +34,6 @@ class CoreXYKinematics:
         ranges = [r.get_range() for r in self.rails]
         self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
-        # Setup stepper max halt velocity
-        max_halt_velocity = toolhead.get_max_axis_halt()
-        max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
-        max_xy_accel = max_accel * math.sqrt(2.)
-        self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
-        self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
-        self.rails[2].set_max_jerk(
-            min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_tag_position(self):
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index 2543977b..698e4c08 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -34,13 +34,6 @@ class CoreXZKinematics:
         ranges = [r.get_range() for r in self.rails]
         self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
-        # Setup stepper max halt velocity
-        max_halt_velocity = toolhead.get_max_axis_halt()
-        max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
-        max_xy_accel = max_accel * math.sqrt(2.)
-        self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
-        self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
-        self.rails[2].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def calc_tag_position(self):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index 44331a91..0d17ed19 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -25,15 +25,11 @@ class DeltaKinematics:
         self.rails = [rail_a, rail_b, rail_c]
         config.get_printer().register_event_handler("stepper_enable:motor_off",
                                                     self._motor_off)
-        # Setup stepper max halt velocity
+        # Setup max velocity
         self.max_velocity, self.max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
             'max_z_velocity', self.max_velocity,
             above=0., maxval=self.max_velocity)
-        max_halt_velocity = toolhead.get_max_axis_halt() * SLOW_RATIO
-        max_halt_accel = self.max_accel * SLOW_RATIO
-        for rail in self.rails:
-            rail.set_max_jerk(max_halt_velocity, max_halt_accel)
         # Read radius and arm lengths
         self.radius = radius = config.getfloat('delta_radius', above=0.)
         print_radius = config.getfloat('print_radius', radius, above=0.)
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index 71f7b382..ea5161a9 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -36,7 +36,6 @@ class PrinterExtruder:
         self.max_e_accel = config.getfloat(
             'max_extrude_only_accel', max_accel * def_max_extrude_ratio
             , above=0.)
-        self.stepper.set_max_jerk(9999999.9, 9999999.9)
         self.max_e_dist = config.getfloat(
             'max_extrude_only_distance', 50., minval=0.)
         self.instant_corner_v = config.getfloat(
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 98b7c7e1..baa3a11c 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -36,11 +36,6 @@ class PolarKinematics:
         min_z, max_z = self.rails[1].get_range()
         self.axes_min = toolhead.Coord(-max_xy, -max_xy, min_z, 0.)
         self.axes_max = toolhead.Coord(max_xy, max_xy, max_z, 0.)
-        # Setup stepper max halt velocity
-        max_halt_velocity = toolhead.get_max_axis_halt()
-        stepper_bed.set_max_jerk(max_halt_velocity, max_accel)
-        rail_arm.set_max_jerk(max_halt_velocity, max_accel)
-        rail_z.set_max_jerk(max_halt_velocity, max_accel)
     def get_steppers(self):
         return list(self.steppers)
     def calc_tag_position(self):
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index 9e57a11e..f61ed34a 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -23,13 +23,10 @@ class RotaryDeltaKinematics:
         self.rails = [rail_a, rail_b, rail_c]
         config.get_printer().register_event_handler("stepper_enable:motor_off",
                                                     self._motor_off)
-        # Setup stepper max halt velocity
+        # Read config
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
                                               above=0., maxval=max_velocity)
-        for rail in self.rails:
-            rail.set_max_jerk(9999999.9, 9999999.9)
-        # Read config
         shoulder_radius = config.getfloat('shoulder_radius', above=0.)
         shoulder_height = config.getfloat('shoulder_height', above=0.)
         a_upper_arm = stepper_configs[0].getfloat('upper_arm_length', above=0.)
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 942c0545..58737b58 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -22,11 +22,6 @@ class WinchKinematics:
             s.setup_itersolve('winch_stepper_alloc', *a)
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        # Setup stepper max halt velocity
-        max_velocity, max_accel = toolhead.get_max_velocity()
-        max_halt_velocity = toolhead.get_max_axis_halt()
-        for s in self.steppers:
-            s.set_max_jerk(max_halt_velocity, max_accel)
         # Setup boundary checks
         acoords = list(zip(*self.anchors))
         self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)