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itersolve: Move tracking of commanded position to itersolve code

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Track the commanded position in just the itersolve.c code instead of
in mcu.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-14 16:33:57 -04:00
parent 8f747e2720
commit 926829e737
3 changed files with 23 additions and 20 deletions
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11
klippy/chelper/itersolve.c
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@ -149,7 +149,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
double mcu_freq = stepcompress_get_mcu_freq(sc);
struct timepos last = { 0., sk->commanded_pos }, low = last, high = last;
double seek_time_delta = 0.000100;
int steps = 0, sdir = stepcompress_get_step_dir(sc);
int sdir = stepcompress_get_step_dir(sc);
struct queue_append qa = queue_append_start(sc, m->print_time, .5);
for (;;) {
// Determine if next step is in forward or reverse direction
@ -192,7 +192,6 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
int ret = queue_append(&qa, next.time * mcu_freq);
if (ret)
return ret;
steps += sdir ? 1 : -1;
seek_time_delta = next.time - last.time;
if (seek_time_delta < .000000001)
seek_time_delta = .000000001;
@ -205,7 +204,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
}
queue_append_finish(qa);
sk->commanded_pos = last.position;
return steps;
return 0;
}
void __visible
@ -221,3 +220,9 @@ itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos)
{
sk->commanded_pos = pos;
}
double __visible
itersolve_get_commanded_pos(struct stepper_kinematics *sk)
{
return sk->commanded_pos;
}