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mcu: Store the stepper position in the mcu_stepper class

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Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-19 11:34:42 -05:00
parent 7cf914537b
commit 1e1364c3d4
4 changed files with 39 additions and 45 deletions
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10
klippy/extruder.py
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@ -12,7 +12,6 @@ class PrinterExtruder:
self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
self.pressure_advance = config.getfloat('pressure_advance', 0.)
self.need_motor_enable = True
self.stepper_pos = 0
self.extrude_pos = 0.
def build_config(self):
self.heater.build_config()
@ -95,12 +94,12 @@ class PrinterExtruder:
decel_d -= extra_decel_d
# Prepare for steps
stepper_pos = self.stepper_pos
inv_step_dist = self.stepper.inv_step_dist
step_dist = self.stepper.step_dist
mcu_stepper = self.stepper.mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_offset = stepper_pos - start_pos * inv_step_dist
step_pos = mcu_stepper.commanded_position
step_offset = step_pos - start_pos * inv_step_dist
# Acceleration steps
accel_multiplier = 2.0 * step_dist * inv_accel
@ -112,7 +111,6 @@ class PrinterExtruder:
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
stepper_pos += count
step_offset += count - accel_steps
mcu_time += accel_t
# Cruising steps
@ -122,7 +120,6 @@ class PrinterExtruder:
cruise_steps = cruise_d * inv_step_dist
count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)
stepper_pos += count
step_offset += count - cruise_steps
mcu_time += cruise_t
# Deceleration steps
@ -134,7 +131,6 @@ class PrinterExtruder:
count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)
stepper_pos += count
step_offset += count - decel_steps
mcu_time += decel_t
# Retraction steps
@ -146,7 +142,5 @@ class PrinterExtruder:
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
stepper_pos += count
self.stepper_pos = stepper_pos
self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d