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mcu: Pass constant velocity and acceleration directly to mcu_stepper

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Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds.  This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 12:31:03 -04:00
parent 47f12f107d
commit c4b1a79db2
5 changed files with 82 additions and 121 deletions
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klippy/stepper.py
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@ -43,6 +43,7 @@ class PrinterStepper:
dir_pin = config.get('dir_pin')
mcu = printer.mcu
self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
self.mcu_stepper.set_step_distance(self.step_dist)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)