3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-22 22:24:02 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 4

stepper: Store pointers to step_const and step_delta in PrinterStepper

Browse source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-11-07 12:12:28 -05:00
parent fc1d690d75
commit eecf3b6ea8
5 changed files with 28 additions and 35 deletions
Download patch file Download diff file Expand all files Collapse all files

12
klippy/cartesian.py
View file

@ -107,7 +107,7 @@ class CartKinematics:
axis_d = move.axes_d[i]
if not axis_d:
continue
mcu_stepper = self.steppers[i].mcu_stepper
step_const = self.steppers[i].step_const
move_time = print_time
start_pos = move.start_pos[i]
axis_r = abs(axis_d) / move.move_d
@ -117,19 +117,17 @@ class CartKinematics:
# Acceleration steps
if move.accel_r:
accel_d = move.accel_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, accel_d, move.start_v * axis_r, accel)
step_const(move_time, start_pos, accel_d,
move.start_v * axis_r, accel)
start_pos += accel_d
move_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, cruise_d, cruise_v, 0.)
step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
mcu_stepper.step_const(
move_time, start_pos, decel_d, cruise_v, -accel)
step_const(move_time, start_pos, decel_d, cruise_v, -accel)