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stepcompress: Merge stepcompress_push_accel() and stepcompress_push_const()

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It's not necessary to have separate C functions for constant
acceleration and constant velocity as constant velocity can be
obtained by using a constant acceleration of zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-07 12:51:52 -04:00
parent 1d81bf5596
commit 98add22891
6 changed files with 48 additions and 82 deletions
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11
klippy/mcu.py
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@ -118,19 +118,10 @@ class MCU_stepper:
self._commanded_pos += 1
else:
self._commanded_pos -= 1
def step_const(self, mcu_time, start_pos, dist, cruise_v):
def step_const(self, mcu_time, start_pos, dist, start_v, accel):
inv_step_dist = self._inv_step_dist
step_offset = self._commanded_pos - start_pos * inv_step_dist
count = self._ffi_lib.stepcompress_push_const(
self._stepqueue, mcu_time * self._mcu_freq, step_offset,
dist * inv_step_dist, cruise_v * self._velocity_factor)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_accel(self, mcu_time, start_pos, dist, start_v, accel):
inv_step_dist = self._inv_step_dist
step_offset = self._commanded_pos - start_pos * inv_step_dist
count = self._ffi_lib.stepcompress_push_accel(
self._stepqueue, mcu_time * self._mcu_freq, step_offset,
dist * inv_step_dist, start_v * self._velocity_factor,
accel * self._accel_factor)