From a31c31aed43a6852880ec3e47f0621c811b0e2d0 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 13 Jul 2018 11:24:36 -0400 Subject: mcu: Enhance itersolve stepper kinematics allocation Allocate the stepper_kinematics directly in mcu.py - that way the kinematic classes don't have to interact with the chelper code. Signed-off-by: Kevin O'Connor --- klippy/kinematics/delta.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) (limited to 'klippy/kinematics/delta.py') diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 2e51681d..b584f9c9 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import stepper, homing, chelper, mathutil +import stepper, homing, mathutil # Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO SLOW_RATIO = 3. @@ -60,12 +60,8 @@ class DeltaKinematics: self.towers = [(math.cos(math.radians(angle)) * radius, math.sin(math.radians(angle)) * radius) for angle in self.angles] - # Setup iterative solver - ffi_main, ffi_lib = chelper.get_ffi() for r, a, t in zip(self.rails, self.arm2, self.towers): - sk = ffi_main.gc(ffi_lib.delta_stepper_alloc(a, t[0], t[1]), - ffi_lib.free) - r.setup_itersolve(sk) + r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1]) # Find the point where an XY move could result in excessive # tower movement half_min_step_dist = min([r.get_steppers()[0].get_step_dist() -- cgit v1.2.3-70-g09d2