diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 20 |
1 files changed, 3 insertions, 17 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index fef10c44..a110843d 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -32,7 +32,6 @@ class MCU_stepper: self._dir_pin = dir_pin_params['pin'] self._invert_dir = dir_pin_params['invert'] self._mcu_position_offset = self._tag_position = 0. - self._min_stop_interval = 0. self._reset_cmd_tag = self._get_position_cmd = None self._active_callbacks = [] ffi_main, ffi_lib = chelper.get_ffi() @@ -56,26 +55,15 @@ class MCU_stepper: # Calculate the time it takes to travel a distance with constant accel time_offset = start_velocity / accel return math.sqrt(2. * dist / accel + time_offset**2) - time_offset - def set_max_jerk(self, max_halt_velocity, max_accel): - # Calculate the firmware's maximum halt interval time - last_step_time = self._dist_to_time(self._step_dist, - max_halt_velocity, max_accel) - second_last_step_time = self._dist_to_time(2. * self._step_dist, - max_halt_velocity, max_accel) - self._min_stop_interval = second_last_step_time - last_step_time def setup_itersolve(self, alloc_func, *params): ffi_main, ffi_lib = chelper.get_ffi() sk = ffi_main.gc(getattr(ffi_lib, alloc_func)(*params), ffi_lib.free) self.set_stepper_kinematics(sk) def _build_config(self): - max_error = self._mcu.get_max_stepper_error() - min_stop_interval = max(0., self._min_stop_interval - max_error) self._mcu.add_config_cmd( "config_stepper oid=%d step_pin=%s dir_pin=%s" - " min_stop_interval=%d invert_step=%d" % ( - self._oid, self._step_pin, self._dir_pin, - self._mcu.seconds_to_clock(min_stop_interval), - self._invert_step)) + " min_stop_interval=0 invert_step=%d" % ( + self._oid, self._step_pin, self._dir_pin, self._invert_step)) self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0" % (self._oid,), on_restart=True) step_cmd_tag = self._mcu.lookup_command_tag( @@ -87,6 +75,7 @@ class MCU_stepper: self._get_position_cmd = self._mcu.lookup_query_command( "stepper_get_position oid=%c", "stepper_position oid=%c pos=%i", oid=self._oid) + max_error = self._mcu.get_max_stepper_error() ffi_main, ffi_lib = chelper.get_ffi() ffi_lib.stepcompress_fill(self._stepqueue, self._mcu.seconds_to_clock(max_error), @@ -360,9 +349,6 @@ class PrinterRail: def set_trapq(self, trapq): for stepper in self.steppers: stepper.set_trapq(trapq) - def set_max_jerk(self, max_halt_velocity, max_accel): - for stepper in self.steppers: - stepper.set_max_jerk(max_halt_velocity, max_accel) def set_position(self, coord): for stepper in self.steppers: stepper.set_position(coord) |