diff options
| -rw-r--r-- | klippy/chelper/__init__.py | 3 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.c | 7 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.h | 5 | ||||
| -rw-r--r-- | klippy/stepper.py | 18 |
4 files changed, 13 insertions, 20 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index ed759f69..1adce192 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -51,9 +51,8 @@ defs_itersolve = """ void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq); void itersolve_set_stepcompress(struct stepper_kinematics *sk , struct stepcompress *sc, double step_dist); - double itersolve_calc_position_from_coord(struct stepper_kinematics *sk + void itersolve_set_position(struct stepper_kinematics *sk , double x, double y, double z); - void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos); double itersolve_get_commanded_pos(struct stepper_kinematics *sk); """ diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 8f7905c3..5eafd2a7 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -208,7 +208,7 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk sk->step_dist = step_dist; } -double __visible +static double itersolve_calc_position_from_coord(struct stepper_kinematics *sk , double x, double y, double z) { @@ -221,9 +221,10 @@ itersolve_calc_position_from_coord(struct stepper_kinematics *sk } void __visible -itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos) +itersolve_set_position(struct stepper_kinematics *sk + , double x, double y, double z) { - sk->commanded_pos = pos; + sk->commanded_pos = itersolve_calc_position_from_coord(sk, x, y, z); } double __visible diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h index 9f622424..1615fc32 100644 --- a/klippy/chelper/itersolve.h +++ b/klippy/chelper/itersolve.h @@ -30,9 +30,8 @@ double itersolve_check_active(struct stepper_kinematics *sk, double flush_time); void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq); void itersolve_set_stepcompress(struct stepper_kinematics *sk , struct stepcompress *sc, double step_dist); -double itersolve_calc_position_from_coord(struct stepper_kinematics *sk - , double x, double y, double z); -void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos); +void itersolve_set_position(struct stepper_kinematics *sk + , double x, double y, double z); double itersolve_get_commanded_pos(struct stepper_kinematics *sk); #endif // itersolve.h diff --git a/klippy/stepper.py b/klippy/stepper.py index b9be551d..4d623094 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -90,17 +90,14 @@ class MCU_stepper: return self._step_dist def is_dir_inverted(self): return self._invert_dir - def calc_position_from_coord(self, coord): - return self._ffi_lib.itersolve_calc_position_from_coord( - self._stepper_kinematics, coord[0], coord[1], coord[2]) def set_position(self, coord): - self.set_commanded_position(self.calc_position_from_coord(coord)) + opos = self.get_commanded_position() + sk = self._stepper_kinematics + self._ffi_lib.itersolve_set_position(sk, coord[0], coord[1], coord[2]) + self._mcu_position_offset += opos - self.get_commanded_position() def get_commanded_position(self): - return self._ffi_lib.itersolve_get_commanded_pos( - self._stepper_kinematics) - def set_commanded_position(self, pos): - self._mcu_position_offset += self.get_commanded_position() - pos - self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos) + sk = self._stepper_kinematics + return self._ffi_lib.itersolve_get_commanded_pos(sk) def get_mcu_position(self): mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset mcu_pos = mcu_pos_dist / self._step_dist @@ -279,9 +276,6 @@ class PrinterRail: def set_max_jerk(self, max_halt_velocity, max_accel): for stepper in self.steppers: stepper.set_max_jerk(max_halt_velocity, max_accel) - def set_commanded_position(self, pos): - for stepper in self.steppers: - stepper.set_commanded_position(pos) def set_position(self, coord): for stepper in self.steppers: stepper.set_position(coord) |