diff options
Diffstat (limited to 'klippy/kinematics/cartesian.py')
| -rw-r--r-- | klippy/kinematics/cartesian.py | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 6c10984c..42c2ae21 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -4,13 +4,17 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging -import stepper, homing, chelper +import stepper, homing class CartKinematics: def __init__(self, toolhead, config): self.printer = config.get_printer() + # Setup axis rails self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n)) for n in ['x', 'y', 'z']] + for rail, axis in zip(self.rails, 'xyz'): + rail.setup_itersolve('cartesian_stepper_alloc', axis) + # Setup boundary checks max_velocity, max_accel = toolhead.get_max_velocity() self.max_z_velocity = config.getfloat( 'max_z_velocity', max_velocity, above=0., maxval=max_velocity) @@ -18,10 +22,6 @@ class CartKinematics: 'max_z_accel', max_accel, above=0., maxval=max_accel) self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 - # Setup iterative solver - ffi_main, ffi_lib = chelper.get_ffi() - for axis, rail in zip('xyz', self.rails): - rail.setup_cartesian_itersolve(axis) # Setup stepper max halt velocity max_halt_velocity = toolhead.get_max_axis_halt() self.rails[0].set_max_jerk(max_halt_velocity, max_accel) @@ -36,7 +36,7 @@ class CartKinematics: dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'}) self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis] dc_rail = stepper.LookupMultiRail(dc_config) - dc_rail.setup_cartesian_itersolve(dc_axis) + dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis) dc_rail.set_max_jerk(max_halt_velocity, max_accel) self.dual_carriage_rails = [ self.rails[self.dual_carriage_axis], dc_rail] |