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Diffstat (limited to 'klippy/kinematics/delta.py')
| -rw-r--r-- | klippy/kinematics/delta.py | 8 |
1 files changed, 2 insertions, 6 deletions
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 2e51681d..b584f9c9 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import stepper, homing, chelper, mathutil +import stepper, homing, mathutil # Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO SLOW_RATIO = 3. @@ -60,12 +60,8 @@ class DeltaKinematics: self.towers = [(math.cos(math.radians(angle)) * radius, math.sin(math.radians(angle)) * radius) for angle in self.angles] - # Setup iterative solver - ffi_main, ffi_lib = chelper.get_ffi() for r, a, t in zip(self.rails, self.arm2, self.towers): - sk = ffi_main.gc(ffi_lib.delta_stepper_alloc(a, t[0], t[1]), - ffi_lib.free) - r.setup_itersolve(sk) + r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1]) # Find the point where an XY move could result in excessive # tower movement half_min_step_dist = min([r.get_steppers()[0].get_step_dist() |