diff options
Diffstat (limited to 'klippy/cartesian.py')
| -rw-r--r-- | klippy/cartesian.py | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index c3a34db7..16db25d2 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -97,20 +97,22 @@ class CartKinematics: inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: - new_step_pos = int( - move.end_pos[i]*self.steppers[i].inv_step_dist + 0.5) - steps = new_step_pos - self.stepper_pos[i] - if not steps: + inv_step_dist = self.steppers[i].inv_step_dist + new_step_pos = int(move.end_pos[i]*inv_step_dist + 0.5) + step_pos = self.stepper_pos[i] + if new_step_pos == step_pos: continue self.stepper_pos[i] = new_step_pos + steps = move.axes_d[i] * inv_step_dist + step_offset = step_pos - move.start_pos[i] * inv_step_dist + 0.5 sdir = 0 if steps < 0: sdir = 1 steps = -steps + step_offset = 1. - step_offset mcu_time, so = self.steppers[i].prep_move(move_time, sdir) move_step_d = move.move_d / steps - step_offset = 0.5 # Acceleration steps #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel |