diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index d28d21f1..5b12e83f 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -128,16 +128,14 @@ class MCU_stepper: if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count - def step_delta(self, mcu_time, start_pos, dist, start_v, accel - , height_base, closestxy_d, closest_height2, movez_r): + def step_delta(self, mcu_time, dist, start_v, accel + , height_base, startxy_d, arm_d, movez_r): inv_step_dist = self._inv_step_dist height = self._commanded_pos - height_base * inv_step_dist count = self._ffi_lib.stepcompress_push_delta( - self._stepqueue, mcu_time * self._mcu_freq, - -start_pos * inv_step_dist, dist * inv_step_dist, + self._stepqueue, mcu_time * self._mcu_freq, dist * inv_step_dist, start_v * self._velocity_factor, accel * self._accel_factor, - height, closestxy_d * inv_step_dist, - closest_height2 * inv_step_dist**2, movez_r) + height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count |