diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index d9b26ef8..e3c4d5dc 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging, importlib -import mcu, homing, kinematics.extruder +import mcu, homing, chelper, kinematics.extruder # Common suffixes: _d is distance (in mm), _v is velocity (in # mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in @@ -17,6 +17,7 @@ class Move: self.start_pos = tuple(start_pos) self.end_pos = tuple(end_pos) self.accel = toolhead.max_accel + self.cmove = toolhead.cmove self.is_kinematic_move = True self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)] self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]])) @@ -91,6 +92,12 @@ class Move: # Generate step times for the move next_move_time = self.toolhead.get_next_move_time() if self.is_kinematic_move: + self.toolhead.move_fill( + self.cmove, next_move_time, + self.accel_t, self.cruise_t, self.decel_t, + self.start_pos[0], self.start_pos[1], self.start_pos[2], + self.axes_d[0], self.axes_d[1], self.axes_d[2], + self.start_v, self.cruise_v, self.accel) self.toolhead.kin.move(next_move_time, self) if self.axes_d[3]: self.toolhead.extruder.move(next_move_time, self) @@ -226,6 +233,10 @@ class ToolHead: self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.) self.motor_off_timer = self.reactor.register_timer( self._motor_off_handler, self.reactor.NOW) + # Setup iterative solver + ffi_main, ffi_lib = chelper.get_ffi() + self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) + self.move_fill = ffi_lib.move_fill # Create kinematics class self.extruder = kinematics.extruder.DummyExtruder() self.move_queue.set_extruder(self.extruder) |