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stepper: Check if the motor needs to be enabled in the kinematic classes

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Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-14 13:40:35 -05:00
parent 9ad8153d33
commit 5a1ec817d4
4 changed files with 55 additions and 29 deletions
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20
klippy/cartesian.py
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@ -13,6 +13,7 @@ class CartKinematics:
steppers = ['stepper_x', 'stepper_y', 'stepper_z']
self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
for n in steppers]
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
self.stepper_pos = [0, 0, 0]
def build_config(self):
@ -64,6 +65,14 @@ class CartKinematics:
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
self.need_motor_enable = True
def check_motor_enable(self, move_time, move):
need_motor_enable = False
for i in StepList:
if move.axes_d[i]:
self.steppers[i].motor_enable(move_time, 1)
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def query_endstops(self, move_time):
return homing.QueryEndstops(["x", "y", "z"], self.steppers)
def check_endstops(self, move):
@ -94,12 +103,15 @@ class CartKinematics:
for i in StepList if axes_d[i]])
move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
def move(self, move_time, move):
if self.need_motor_enable:
self.check_motor_enable(move_time, move)
inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v
for i in StepList:
if not move.axes_d[i]:
continue
mcu_time, so = self.steppers[i].prep_move(move_time)
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
inv_step_dist = self.steppers[i].inv_step_dist
steps = move.axes_d[i] * inv_step_dist
move_step_d = move.move_d / abs(steps)
@ -114,7 +126,7 @@ class CartKinematics:
accel_time_offset = move.start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_steps = move.accel_r * steps
count = so.step_sqrt(
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
step_pos += count
@ -125,7 +137,7 @@ class CartKinematics:
#t = pos/cruise_v
cruise_multiplier = move_step_d * inv_cruise_v
cruise_steps = move.cruise_r * steps
count = so.step_factor(
count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)
step_pos += count
step_offset += count - cruise_steps
@ -136,7 +148,7 @@ class CartKinematics:
decel_time_offset = move.cruise_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
decel_steps = move.decel_r * steps
count = so.step_sqrt(
count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)
step_pos += count