diff options
Diffstat (limited to 'klippy/extras/manual_stepper.py')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 13 |
1 files changed, 5 insertions, 8 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index a8448e72..9b985007 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -23,10 +23,8 @@ class ManualStepper: self.next_cmd_time = 0. # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() - self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) - self.move_fill = ffi_lib.move_fill self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) - self.trapq_add_move = ffi_lib.trapq_add_move + self.trapq_append = ffi_lib.trapq_append self.trapq_free_moves = ffi_lib.trapq_free_moves self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x') self.stepper.set_trapq(self.trapq) @@ -58,11 +56,10 @@ class ManualStepper: dist = movepos - cp accel_t, cruise_t, cruise_v = force_move.calc_move_time( dist, speed, accel) - self.move_fill(self.cmove, self.next_cmd_time, - accel_t, cruise_t, accel_t, - cp, 0., 0., dist, 0., 0., - 0., cruise_v, accel) - self.trapq_add_move(self.trapq, self.cmove) + self.trapq_append(self.trapq, self.next_cmd_time, + accel_t, cruise_t, accel_t, + cp, 0., 0., dist, 0., 0., + 0., cruise_v, accel) self.next_cmd_time += accel_t + cruise_t + accel_t self.stepper.generate_steps(self.next_cmd_time) self.trapq_free_moves(self.trapq, self.next_cmd_time) |