diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 20 |
1 files changed, 16 insertions, 4 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 85746860..e386704c 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -13,6 +13,7 @@ class CartKinematics: steppers = ['stepper_x', 'stepper_y', 'stepper_z'] self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) for n in steppers] + self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 self.stepper_pos = [0, 0, 0] def build_config(self): @@ -64,6 +65,14 @@ class CartKinematics: self.limits = [(1.0, -1.0)] * 3 for stepper in self.steppers: stepper.motor_enable(move_time, 0) + self.need_motor_enable = True + def check_motor_enable(self, move_time, move): + need_motor_enable = False + for i in StepList: + if move.axes_d[i]: + self.steppers[i].motor_enable(move_time, 1) + need_motor_enable |= self.steppers[i].need_motor_enable + self.need_motor_enable = need_motor_enable def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) def check_endstops(self, move): @@ -94,12 +103,15 @@ class CartKinematics: for i in StepList if axes_d[i]]) move.limit_speed(velocity_factor * move_d, accel_factor * move_d) def move(self, move_time, move): + if self.need_motor_enable: + self.check_motor_enable(move_time, move) inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: if not move.axes_d[i]: continue - mcu_time, so = self.steppers[i].prep_move(move_time) + mcu_stepper = self.steppers[i].mcu_stepper + mcu_time = mcu_stepper.print_to_mcu_time(move_time) inv_step_dist = self.steppers[i].inv_step_dist steps = move.axes_d[i] * inv_step_dist move_step_d = move.move_d / abs(steps) @@ -114,7 +126,7 @@ class CartKinematics: accel_time_offset = move.start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 accel_steps = move.accel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) step_pos += count @@ -125,7 +137,7 @@ class CartKinematics: #t = pos/cruise_v cruise_multiplier = move_step_d * inv_cruise_v cruise_steps = move.cruise_r * steps - count = so.step_factor( + count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) step_pos += count step_offset += count - cruise_steps @@ -136,7 +148,7 @@ class CartKinematics: decel_time_offset = move.cruise_v * inv_accel decel_sqrt_offset = decel_time_offset**2 decel_steps = move.decel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) step_pos += count |