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stepper: Store pointers to step_const and step_delta in PrinterStepper

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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
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17
klippy/delta.py
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@ -201,26 +201,23 @@ class DeltaKinematics:
vt_startz = origz
# Generate steps
mcu_stepper = self.steppers[i].mcu_stepper
step_delta = self.steppers[i].step_delta
move_time = print_time
if accel_d:
mcu_stepper.step_delta(
move_time, accel_d, move.start_v, accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
step_delta(move_time, accel_d, move.start_v, accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += accel_d * movez_r
vt_startxy_d -= accel_d * movexy_r
move_time += move.accel_t
if cruise_d:
mcu_stepper.step_delta(
move_time, cruise_d, cruise_v, 0.,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
step_delta(move_time, cruise_d, cruise_v, 0.,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += cruise_d * movez_r
vt_startxy_d -= cruise_d * movexy_r
move_time += move.cruise_t
if decel_d:
mcu_stepper.step_delta(
move_time, decel_d, cruise_v, -accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
step_delta(move_time, decel_d, cruise_v, -accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
######################################################################