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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 12:51:52 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-04-07 14:43:25 -0400 |
| commit | 98add22891d66d0a9ce21d35b750d20d3671382e (patch) | |
| tree | bae6b300d3b76d3650ea49af09817952a99011c6 /klippy/mcu.py | |
| parent | 1d81bf559657422db7a7dbd7a1f7f5b2b352eb21 (diff) | |
| download | kutter-98add22891d66d0a9ce21d35b750d20d3671382e.tar.gz kutter-98add22891d66d0a9ce21d35b750d20d3671382e.tar.xz kutter-98add22891d66d0a9ce21d35b750d20d3671382e.zip | |
stepcompress: Merge stepcompress_push_accel() and stepcompress_push_const()
It's not necessary to have separate C functions for constant
acceleration and constant velocity as constant velocity can be
obtained by using a constant acceleration of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 11 |
1 files changed, 1 insertions, 10 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 9127da6c..741ac0aa 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -118,20 +118,11 @@ class MCU_stepper: self._commanded_pos += 1 else: self._commanded_pos -= 1 - def step_const(self, mcu_time, start_pos, dist, cruise_v): + def step_const(self, mcu_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._ffi_lib.stepcompress_push_const( self._stepqueue, mcu_time * self._mcu_freq, step_offset, - dist * inv_step_dist, cruise_v * self._velocity_factor) - if count == STEPCOMPRESS_ERROR_RET: - raise error("Internal error in stepcompress") - self._commanded_pos += count - def step_accel(self, mcu_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._ffi_lib.stepcompress_push_accel( - self._stepqueue, mcu_time * self._mcu_freq, step_offset, dist * inv_step_dist, start_v * self._velocity_factor, accel * self._accel_factor) if count == STEPCOMPRESS_ERROR_RET: |