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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/delta.py
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@ -62,8 +62,6 @@ class DeltaKinematics:
for angle in self.angles]
# 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
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)
@ -163,14 +161,8 @@ class DeltaKinematics:
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(print_time)
self.move_fill(
self.cmove, print_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_d[0], move.axes_d[1], move.axes_d[2],
move.start_v, move.cruise_v, move.accel)
for rail in self.rails:
rail.step_itersolve(self.cmove)
rail.step_itersolve(move.cmove)
# Helper functions for DELTA_CALIBRATE script
def get_stable_position(self):
steppers = [rail.get_steppers()[0] for rail in self.rails]