diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 29 |
1 files changed, 12 insertions, 17 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index c15d194c..084f0131 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -42,23 +42,18 @@ class PrinterStepper: self.position_endstop = config.getfloat('position_endstop') self.position_max = config.getfloat('position_max') - self.clock_ticks = None self.need_motor_enable = True def set_max_jerk(self, max_jerk): self.max_jerk = max_jerk def build_config(self): - self.clock_ticks = self.printer.mcu.get_mcu_freq() max_error = self.config.getfloat('max_error', 0.000050) - max_error = int(max_error * self.clock_ticks) - step_pin = self.config.get('step_pin') dir_pin = self.config.get('dir_pin') jc = self.max_jerk / self.max_accel inv_max_step_accel = self.step_dist / self.max_accel - min_stop_interval = int((math.sqrt(3.*inv_max_step_accel + jc**2) - - math.sqrt(inv_max_step_accel + jc**2)) - * self.clock_ticks) - max_error - min_stop_interval = max(0, min_stop_interval) + min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2) + - math.sqrt(inv_max_step_accel + jc**2)) - max_error + min_stop_interval = max(0., min_stop_interval) mcu = self.printer.mcu self.mcu_stepper = mcu.create_stepper( step_pin, dir_pin, min_stop_interval, max_error) @@ -71,19 +66,19 @@ class PrinterStepper: def motor_enable(self, move_time, enable=0): if (self.mcu_enable is not None and self.mcu_enable.get_last_setting() != enable): - mc = int(self.mcu_enable.get_print_clock(move_time)) - self.mcu_enable.set_digital(mc + 1, enable) + mcu_time = self.mcu_enable.print_to_mcu_time(move_time) + self.mcu_enable.set_digital(mcu_time, enable) self.need_motor_enable = True - def prep_move(self, sdir, move_time): - move_clock = self.mcu_stepper.get_print_clock(move_time) - self.mcu_stepper.set_next_step_dir(sdir, int(move_clock)) + def prep_move(self, move_time, sdir): + mcu_time = self.mcu_stepper.print_to_mcu_time(move_time) + self.mcu_stepper.set_next_step_dir(mcu_time, sdir) if self.need_motor_enable: self.motor_enable(move_time, 1) self.need_motor_enable = False - return (move_clock, self.clock_ticks, self.mcu_stepper) - def enable_endstop_checking(self, move_time, hz): - move_clock = int(self.mcu_endstop.get_print_clock(move_time)) - self.mcu_endstop.home(move_clock, int(self.clock_ticks / hz)) + return (mcu_time, self.mcu_stepper) + def enable_endstop_checking(self, move_time, step_time): + mcu_time = self.mcu_endstop.print_to_mcu_time(move_time) + self.mcu_endstop.home(mcu_time, step_time) return self.mcu_endstop def get_homed_position(self): if not self.homing_stepper_phases: |