diff options
| -rw-r--r-- | klippy/kinematics/cartesian.py | 10 | ||||
| -rw-r--r-- | klippy/kinematics/corexy.py | 10 | ||||
| -rw-r--r-- | klippy/kinematics/delta.py | 10 | ||||
| -rw-r--r-- | klippy/toolhead.py | 13 |
4 files changed, 15 insertions, 28 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 22ee5b98..6c10984c 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -20,8 +20,6 @@ class CartKinematics: self.limits = [(1.0, -1.0)] * 3 # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() - self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) - self.move_fill = ffi_lib.move_fill for axis, rail in zip('xyz', self.rails): rail.setup_cartesian_itersolve(axis) # Setup stepper max halt velocity @@ -141,15 +139,9 @@ class CartKinematics: def move(self, print_time, move): if self.need_motor_enable: self._check_motor_enable(print_time, move) - self.move_fill( - self.cmove, print_time, - move.accel_t, move.cruise_t, move.decel_t, - move.start_pos[0], move.start_pos[1], move.start_pos[2], - move.axes_d[0], move.axes_d[1], move.axes_d[2], - move.start_v, move.cruise_v, move.accel) for i, rail in enumerate(self.rails): if move.axes_d[i]: - rail.step_itersolve(self.cmove) + rail.step_itersolve(move.cmove) # Dual carriage support def _activate_carriage(self, carriage): toolhead = self.printer.lookup_object('toolhead') diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 931793e7..259a6eeb 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -22,8 +22,6 @@ class CoreXYKinematics: self.limits = [(1.0, -1.0)] * 3 # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() - self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) - self.move_fill = ffi_lib.move_fill self.rails[0].setup_itersolve(ffi_main.gc( ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free)) self.rails[1].setup_itersolve(ffi_main.gc( @@ -128,13 +126,7 @@ class CoreXYKinematics: if self.need_motor_enable: self._check_motor_enable(print_time, move) axes_d = move.axes_d - cmove = self.cmove - self.move_fill( - cmove, print_time, - move.accel_t, move.cruise_t, move.decel_t, - move.start_pos[0], move.start_pos[1], move.start_pos[2], - axes_d[0], axes_d[1], axes_d[2], - move.start_v, move.cruise_v, move.accel) + cmove = move.cmove rail_x, rail_y, rail_z = self.rails if axes_d[0] or axes_d[1]: rail_x.step_itersolve(cmove) diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index ac023242..2e51681d 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -62,8 +62,6 @@ class DeltaKinematics: for angle in self.angles] # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() - self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) - self.move_fill = ffi_lib.move_fill for r, a, t in zip(self.rails, self.arm2, self.towers): sk = ffi_main.gc(ffi_lib.delta_stepper_alloc(a, t[0], t[1]), ffi_lib.free) @@ -163,14 +161,8 @@ class DeltaKinematics: def move(self, print_time, move): if self.need_motor_enable: self._check_motor_enable(print_time) - self.move_fill( - self.cmove, print_time, - move.accel_t, move.cruise_t, move.decel_t, - move.start_pos[0], move.start_pos[1], move.start_pos[2], - move.axes_d[0], move.axes_d[1], move.axes_d[2], - move.start_v, move.cruise_v, move.accel) for rail in self.rails: - rail.step_itersolve(self.cmove) + rail.step_itersolve(move.cmove) # Helper functions for DELTA_CALIBRATE script def get_stable_position(self): steppers = [rail.get_steppers()[0] for rail in self.rails] diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d9b26ef8..e3c4d5dc 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging, importlib -import mcu, homing, kinematics.extruder +import mcu, homing, chelper, kinematics.extruder # Common suffixes: _d is distance (in mm), _v is velocity (in # mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in @@ -17,6 +17,7 @@ class Move: self.start_pos = tuple(start_pos) self.end_pos = tuple(end_pos) self.accel = toolhead.max_accel + self.cmove = toolhead.cmove self.is_kinematic_move = True self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)] self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) @@ -91,6 +92,12 @@ class Move: # Generate step times for the move next_move_time = self.toolhead.get_next_move_time() if self.is_kinematic_move: + self.toolhead.move_fill( + self.cmove, next_move_time, + self.accel_t, self.cruise_t, self.decel_t, + self.start_pos[0], self.start_pos[1], self.start_pos[2], + self.axes_d[0], self.axes_d[1], self.axes_d[2], + self.start_v, self.cruise_v, self.accel) self.toolhead.kin.move(next_move_time, self) if self.axes_d[3]: self.toolhead.extruder.move(next_move_time, self) @@ -226,6 +233,10 @@ class ToolHead: self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.) self.motor_off_timer = self.reactor.register_timer( self._motor_off_handler, self.reactor.NOW) + # Setup iterative solver + ffi_main, ffi_lib = chelper.get_ffi() + self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) + self.move_fill = ffi_lib.move_fill # Create kinematics class self.extruder = kinematics.extruder.DummyExtruder() self.move_queue.set_extruder(self.extruder) |