delta: Convert step generation to use trapq system

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

2 files changed, 9 insertions, 12 deletions

diff --git a/klippy/chelper/kin_delta.c b/klippy/chelper/kin_delta.c
index 5ead7e98..1cfb1c35 100644
--- a/klippy/chelper/kin_delta.c
+++ b/klippy/chelper/kin_delta.c
@@ -1,6 +1,6 @@
 // Delta kinematics stepper pulse time generation
 //
-// Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -36,5 +36,6 @@ delta_stepper_alloc(double arm2, double tower_x, double tower_y)
     ds->tower_x = tower_x;
     ds->tower_y = tower_y;
     ds->sk.calc_position_cb = delta_stepper_calc_position;
+    ds->sk.active_flags = AF_X | AF_Y | AF_Z;
     return &ds->sk;
 }
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index 277d1147..f1892c1f 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -1,6 +1,6 @@
 # Code for handling the kinematics of linear delta robots
 #
-# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2019  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
@@ -51,8 +51,11 @@ class DeltaKinematics:
                        for angle in self.angles]
         for r, a, t in zip(self.rails, self.arm2, self.towers):
             r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1])
+        for s in self.get_steppers():
+            s.set_trapq(toolhead.get_trapq())
+            toolhead.register_move_handler(s.generate_steps)
         # Setup boundary checks
-        self.need_motor_enable = self.need_home = True
+        self.need_home = True
         self.limit_xy2 = -1.
         self.home_position = tuple(
             self._actuator_to_cartesian(self.abs_endstops))
@@ -106,11 +109,7 @@ class DeltaKinematics:
         self.limit_xy2 = -1.
         for rail in self.rails:
             rail.motor_enable(print_time, 0)
-        self.need_motor_enable = self.need_home = True
-    def _check_motor_enable(self, print_time):
-        for rail in self.rails:
-            rail.motor_enable(print_time, 1)
-        self.need_motor_enable = False
+        self.need_home = True
     def check_move(self, move):
         end_pos = move.end_pos
         end_xy2 = end_pos[0]**2 + end_pos[1]**2
@@ -146,10 +145,7 @@ class DeltaKinematics:
             limit_xy2 = -1.
         self.limit_xy2 = min(limit_xy2, self.slow_xy2)
     def move(self, print_time, move):
-        if self.need_motor_enable:
-            self._check_motor_enable(print_time)
-        for rail in self.rails:
-            rail.step_itersolve(move.cmove)
+        pass
     def get_status(self):
         return {'homed_axes': '' if self.need_home else 'XYZ'}