diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 11 |
1 files changed, 1 insertions, 10 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 9127da6c..741ac0aa 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -118,20 +118,11 @@ class MCU_stepper: self._commanded_pos += 1 else: self._commanded_pos -= 1 - def step_const(self, mcu_time, start_pos, dist, cruise_v): + def step_const(self, mcu_time, start_pos, dist, start_v, accel): inv_step_dist = self._inv_step_dist step_offset = self._commanded_pos - start_pos * inv_step_dist count = self._ffi_lib.stepcompress_push_const( self._stepqueue, mcu_time * self._mcu_freq, step_offset, - dist * inv_step_dist, cruise_v * self._velocity_factor) - if count == STEPCOMPRESS_ERROR_RET: - raise error("Internal error in stepcompress") - self._commanded_pos += count - def step_accel(self, mcu_time, start_pos, dist, start_v, accel): - inv_step_dist = self._inv_step_dist - step_offset = self._commanded_pos - start_pos * inv_step_dist - count = self._ffi_lib.stepcompress_push_accel( - self._stepqueue, mcu_time * self._mcu_freq, step_offset, dist * inv_step_dist, start_v * self._velocity_factor, accel * self._accel_factor) if count == STEPCOMPRESS_ERROR_RET: |