diff options
Diffstat (limited to 'klippy/chelper/itersolve.c')
| -rw-r--r-- | klippy/chelper/itersolve.c | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 72e6ad89..c9ce9b8f 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -149,7 +149,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) double mcu_freq = stepcompress_get_mcu_freq(sc); struct timepos last = { 0., sk->commanded_pos }, low = last, high = last; double seek_time_delta = 0.000100; - int steps = 0, sdir = stepcompress_get_step_dir(sc); + int sdir = stepcompress_get_step_dir(sc); struct queue_append qa = queue_append_start(sc, m->print_time, .5); for (;;) { // Determine if next step is in forward or reverse direction @@ -192,7 +192,6 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) int ret = queue_append(&qa, next.time * mcu_freq); if (ret) return ret; - steps += sdir ? 1 : -1; seek_time_delta = next.time - last.time; if (seek_time_delta < .000000001) seek_time_delta = .000000001; @@ -205,7 +204,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) } queue_append_finish(qa); sk->commanded_pos = last.position; - return steps; + return 0; } void __visible @@ -221,3 +220,9 @@ itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos) { sk->commanded_pos = pos; } + +double __visible +itersolve_get_commanded_pos(struct stepper_kinematics *sk) +{ + return sk->commanded_pos; +} |