diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 15 |
1 files changed, 5 insertions, 10 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 4907f58a..f6fe86bb 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -15,15 +15,15 @@ class CartKinematics: for n in ['x', 'y', 'z']] self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 - self.stepper_pos = [0, 0, 0] def build_config(self): for stepper in self.steppers[:2]: stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX for stepper in self.steppers: stepper.build_config() def set_position(self, newpos): - self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5) - for i in StepList] + for i in StepList: + s = self.steppers[i] + s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5)) def get_max_speed(self): max_xy_speed = min(s.max_velocity for s in self.steppers[:2]) max_xy_accel = min(s.max_accel for s in self.steppers[:2]) @@ -115,13 +115,12 @@ class CartKinematics: continue mcu_stepper = self.steppers[i].mcu_stepper mcu_time = mcu_stepper.print_to_mcu_time(move_time) + step_pos = mcu_stepper.commanded_position inv_step_dist = self.steppers[i].inv_step_dist + step_offset = step_pos - move.start_pos[i] * inv_step_dist steps = move.axes_d[i] * inv_step_dist move_step_d = move.move_d / abs(steps) - step_pos = self.stepper_pos[i] - step_offset = step_pos - move.start_pos[i] * inv_step_dist - # Acceleration steps accel_multiplier = 2.0 * move_step_d * inv_accel if move.accel_r: @@ -132,7 +131,6 @@ class CartKinematics: count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) - step_pos += count step_offset += count - accel_steps mcu_time += move.accel_t # Cruising steps @@ -142,7 +140,6 @@ class CartKinematics: cruise_steps = move.cruise_r * steps count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) - step_pos += count step_offset += count - cruise_steps mcu_time += move.cruise_t # Deceleration steps @@ -154,5 +151,3 @@ class CartKinematics: count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) - step_pos += count - self.stepper_pos[i] = step_pos |