diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 26 |
1 files changed, 13 insertions, 13 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 25e2036b..722bb73d 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -13,8 +13,8 @@ import lookahead, stepper, homing StepList = (0, 1, 2, 3) class Move: - def __init__(self, kin, pos, move_d, axes_d, speed, accel): - self.kin = kin + def __init__(self, toolhead, pos, move_d, axes_d, speed, accel): + self.toolhead = toolhead self.pos = tuple(pos) self.axes_d = axes_d self.move_d = move_d @@ -34,9 +34,9 @@ class Move: return junction_cos_theta = max(junction_cos_theta, -0.999999) sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)); - R = self.kin.junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2) - self.junction_start_max = min( - R * self.kin.max_xy_accel, self.junction_max, prev_move.junction_max) + R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2) + self.junction_start_max = min(R * self.toolhead.max_xy_accel, + self.junction_max, prev_move.junction_max) def process(self, junction_start, junction_end): # Determine accel, cruise, and decel portions of the move junction_cruise = self.junction_max @@ -64,19 +64,19 @@ class Move: # , next_move_time, accel_r, cruise_r)) # Calculate step times for the move - next_move_time = self.kin.get_next_move_time() + next_move_time = self.toolhead.get_next_move_time() for i in StepList: - new_step_pos = int(self.pos[i]*self.kin.steppers[i].inv_step_dist - + 0.5) - steps = new_step_pos - self.kin.stepper_pos[i] + new_step_pos = int( + self.pos[i]*self.toolhead.steppers[i].inv_step_dist + 0.5) + steps = new_step_pos - self.toolhead.stepper_pos[i] if not steps: continue - self.kin.stepper_pos[i] = new_step_pos + self.toolhead.stepper_pos[i] = new_step_pos sdir = 0 if steps < 0: sdir = 1 steps = -steps - clock_offset, clock_freq, so = self.kin.steppers[i].prep_move( + clock_offset, clock_freq, so = self.toolhead.steppers[i].prep_move( sdir, next_move_time) step_dist = self.move_d / steps @@ -107,11 +107,11 @@ class Move: so.step_sqrt( decel_steps, step_offset, clock_offset + decel_clock_offset , decel_sqrt_offset, -accel_multiplier) - self.kin.update_move_time(accel_t + cruise_t + decel_t) + self.toolhead.update_move_time(accel_t + cruise_t + decel_t) STALL_TIME = 0.100 -class CartKinematics: +class ToolHead: def __init__(self, printer, config): self.printer = printer self.reactor = printer.reactor |