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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-07-13 11:24:36 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-07-13 11:37:36 -0400 |
| commit | a31c31aed43a6852880ec3e47f0621c811b0e2d0 (patch) | |
| tree | 96ce46dcf70c86526078baaad5067388709c3b64 /klippy/stepper.py | |
| parent | b9885965195d1e25cbfec887e5794c59f775f897 (diff) | |
| download | kutter-a31c31aed43a6852880ec3e47f0621c811b0e2d0.tar.gz kutter-a31c31aed43a6852880ec3e47f0621c811b0e2d0.tar.xz kutter-a31c31aed43a6852880ec3e47f0621c811b0e2d0.zip | |
mcu: Enhance itersolve stepper kinematics allocation
Allocate the stepper_kinematics directly in mcu.py - that way the
kinematic classes don't have to interact with the chelper code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index e68512f7..b1d74ce0 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging, collections -import homing, chelper +import homing ###################################################################### @@ -62,6 +62,7 @@ class PrinterStepper: # Wrappers self.step_itersolve = self.mcu_stepper.step_itersolve self.setup_itersolve = self.mcu_stepper.setup_itersolve + self.set_stepper_kinematics = self.mcu_stepper.set_stepper_kinematics self.set_ignore_move = self.mcu_stepper.set_ignore_move self.set_position = self.mcu_stepper.set_position self.get_mcu_position = self.mcu_stepper.get_mcu_position @@ -108,7 +109,6 @@ class PrinterRail: self.steppers = [stepper] self.name = stepper.get_name(short=True) self.step_itersolve = stepper.step_itersolve - self.setup_itersolve = stepper.setup_itersolve self.get_commanded_position = stepper.get_commanded_position self.is_motor_enabled = stepper.is_motor_enabled # Primary endstop and its position @@ -235,11 +235,9 @@ class PrinterRail: def step_multi_itersolve(self, cmove): for stepper in self.steppers: stepper.step_itersolve(cmove) - def setup_cartesian_itersolve(self, axis): - ffi_main, ffi_lib = chelper.get_ffi() + def setup_itersolve(self, alloc_func, *params): for stepper in self.steppers: - stepper.setup_itersolve(ffi_main.gc( - ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) + stepper.setup_itersolve(alloc_func, *params) def set_max_jerk(self, max_halt_velocity, max_accel): for stepper in self.steppers: stepper.set_max_jerk(max_halt_velocity, max_accel) |