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toolhead: Fill cmove in toolhead instead of in each kinematic class

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This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-13 10:52:40 -04:00
parent 8faab46ed2
commit b988596519
4 changed files with 15 additions and 28 deletions
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10
klippy/kinematics/corexy.py
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@ -22,8 +22,6 @@ class CoreXYKinematics:
self.limits = [(1.0, -1.0)] * 3
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.rails[0].setup_itersolve(ffi_main.gc(
ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free))
self.rails[1].setup_itersolve(ffi_main.gc(
@ -128,13 +126,7 @@ class CoreXYKinematics:
if self.need_motor_enable:
self._check_motor_enable(print_time, move)
axes_d = move.axes_d
cmove = self.cmove
self.move_fill(
cmove, print_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[0], move.start_pos[1], move.start_pos[2],
axes_d[0], axes_d[1], axes_d[2],
move.start_v, move.cruise_v, move.accel)
cmove = move.cmove
rail_x, rail_y, rail_z = self.rails
if axes_d[0] or axes_d[1]:
rail_x.step_itersolve(cmove)