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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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13
klippy/toolhead.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, importlib
import mcu, homing, kinematics.extruder
import mcu, homing, chelper, kinematics.extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@ -17,6 +17,7 @@ class Move:
self.start_pos = tuple(start_pos)
self.end_pos = tuple(end_pos)
self.accel = toolhead.max_accel
self.cmove = toolhead.cmove
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@ -91,6 +92,12 @@ class Move:
# Generate step times for the move
next_move_time = self.toolhead.get_next_move_time()
if self.is_kinematic_move:
self.toolhead.move_fill(
self.cmove, next_move_time,
self.accel_t, self.cruise_t, self.decel_t,
self.start_pos[0], self.start_pos[1], self.start_pos[2],
self.axes_d[0], self.axes_d[1], self.axes_d[2],
self.start_v, self.cruise_v, self.accel)
self.toolhead.kin.move(next_move_time, self)
if self.axes_d[3]:
self.toolhead.extruder.move(next_move_time, self)
@ -226,6 +233,10 @@ class ToolHead:
self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.)
self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler, self.reactor.NOW)
# 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
# Create kinematics class
self.extruder = kinematics.extruder.DummyExtruder()
self.move_queue.set_extruder(self.extruder)