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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-10-28 23:13:58 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 15:51:51 -0500 |
| commit | 4b5cbc18a4a17f7a3c107693a4d7c1d32f0238c5 (patch) | |
| tree | 892941e54a981c8e4382efe984d7fb483a1cb9a0 /klippy | |
| parent | 351b56572894a8dbffc00daf380f6037c98f0aa5 (diff) | |
| download | kutter-4b5cbc18a4a17f7a3c107693a4d7c1d32f0238c5.tar.gz kutter-4b5cbc18a4a17f7a3c107693a4d7c1d32f0238c5.tar.xz kutter-4b5cbc18a4a17f7a3c107693a4d7c1d32f0238c5.zip | |
polar: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/chelper/kin_polar.c | 1 | ||||
| -rw-r--r-- | klippy/kinematics/polar.py | 25 |
2 files changed, 5 insertions, 21 deletions
diff --git a/klippy/chelper/kin_polar.c b/klippy/chelper/kin_polar.c index 15f5ae1b..b563baa5 100644 --- a/klippy/chelper/kin_polar.c +++ b/klippy/chelper/kin_polar.c @@ -54,5 +54,6 @@ polar_stepper_alloc(char type) sk->calc_position_cb = polar_stepper_angle_calc_position; sk->post_cb = polar_stepper_angle_post_fixup; } + sk->active_flags = AF_X | AF_Y; return sk; } diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 97de0a9d..0a11353c 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -18,13 +18,15 @@ class PolarKinematics: self.rails = [rail_arm, rail_z] self.steppers = [stepper_bed] + [ s for r in self.rails for s in r.get_steppers() ] + for s in self.get_steppers(): + s.set_trapq(toolhead.get_trapq()) + toolhead.register_move_handler(s.generate_steps) # Setup boundary checks max_velocity, max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( 'max_z_velocity', max_velocity, above=0., maxval=max_velocity) self.max_z_accel = config.getfloat( 'max_z_accel', max_accel, above=0., maxval=max_accel) - self.need_motor_enable = True self.limit_z = [(1.0, -1.0)] self.limit_xy2 = -1. # Setup stepper max halt velocity @@ -85,17 +87,6 @@ class PolarKinematics: self.limit_xy2 = -1. for s in self.steppers: s.motor_enable(print_time, 0) - self.need_motor_enable = True - def _check_motor_enable(self, print_time, move): - if move.axes_d[0] or move.axes_d[1]: - self.steppers[0].motor_enable(print_time, 1) - self.rails[0].motor_enable(print_time, 1) - if move.axes_d[2]: - self.rails[1].motor_enable(print_time, 1) - need_motor_enable = not self.steppers[0].is_motor_enabled() - for rail in self.rails: - need_motor_enable |= not rail.is_motor_enabled() - self.need_motor_enable = need_motor_enable def check_move(self, move): end_pos = move.end_pos xy2 = end_pos[0]**2 + end_pos[1]**2 @@ -114,15 +105,7 @@ class PolarKinematics: move.limit_speed( self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) def move(self, print_time, move): - if self.need_motor_enable: - self._check_motor_enable(print_time, move) - axes_d = move.axes_d - cmove = move.cmove - if axes_d[0] or axes_d[1]: - self.rails[0].step_itersolve(cmove) - self.steppers[0].step_itersolve(cmove) - if axes_d[2]: - self.rails[1].step_itersolve(cmove) + pass def get_status(self): return {'homed_axes': (("XY" if self.limit_xy2 >= 0. else "") + ("Z" if self.limit_z[0] <= self.limit_z[1] else ""))} |