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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-06-14 14:01:33 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-06-20 09:26:10 -0400 |
| commit | 8f747e27209f6c70737862db95bb3abff5c8906b (patch) | |
| tree | 46db5b5fb8627f463bc393801696c1e3f5a5fdee /klippy/mcu.py | |
| parent | eb73b5d0b0d41cae94ee9b67755faafe6aa49952 (diff) | |
| download | kutter-8f747e27209f6c70737862db95bb3abff5c8906b.tar.gz kutter-8f747e27209f6c70737862db95bb3abff5c8906b.tar.xz kutter-8f747e27209f6c70737862db95bb3abff5c8906b.zip | |
kin_cartesian: Remove stepcompress_push_const()
All the kinematic code now uses the iterative solver to generate
steps. Remove the old stepcompress_push_const() mechanism.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 24 |
1 files changed, 3 insertions, 21 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 820d8a4d..be97dc99 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -26,8 +26,7 @@ class MCU_stepper: self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid), self._ffi_lib.stepcompress_free) self._mcu.register_stepqueue(self._stepqueue) - self._stepcompress_push_const = self._itersolve_gen_steps = None - self._stepper_kinematics = None + self._stepper_kinematics = self._itersolve_gen_steps = None self.set_ignore_move(False) def get_mcu(self): return self._mcu @@ -88,13 +87,11 @@ class MCU_stepper: return int(mcu_pos + 0.5) return int(mcu_pos - 0.5) def set_ignore_move(self, ignore_move): - was_ignore = (self._stepcompress_push_const - is not self._ffi_lib.stepcompress_push_const) + was_ignore = (self._itersolve_gen_steps + is not self._ffi_lib.itersolve_gen_steps) if ignore_move: - self._stepcompress_push_const = (lambda *args: 0) self._itersolve_gen_steps = (lambda *args: 0) else: - self._stepcompress_push_const = self._ffi_lib.stepcompress_push_const self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps return was_ignore def note_homing_start(self, homing_clock): @@ -122,21 +119,6 @@ class MCU_stepper: if self._invert_dir: pos = -pos self._commanded_pos = pos - self._mcu_position_offset - def step(self, print_time, sdir): - count = self._ffi_lib.stepcompress_push( - self._stepqueue, print_time, sdir) - if count == STEPCOMPRESS_ERROR_RET: - raise error("Internal error in stepcompress") - self._commanded_pos += count - def step_const(self, print_time, start_pos, dist, start_v, accel): - inv_step_dist = self._inv_step_dist - step_offset = self._commanded_pos - start_pos * inv_step_dist - count = self._stepcompress_push_const( - self._stepqueue, print_time, step_offset, dist * inv_step_dist, - start_v * inv_step_dist, accel * inv_step_dist) - if count == STEPCOMPRESS_ERROR_RET: - raise error("Internal error in stepcompress") - self._commanded_pos += count def step_itersolve(self, cmove): count = self._itersolve_gen_steps(self._stepper_kinematics, cmove) if count == STEPCOMPRESS_ERROR_RET: |