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mcu: Enhance itersolve stepper kinematics allocation

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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 <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-13 11:24:36 -04:00
parent b988596519
commit a31c31aed4
7 changed files with 31 additions and 36 deletions
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8
klippy/kinematics/delta.py
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@ -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()