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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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12
klippy/extruder.py
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@ -189,29 +189,27 @@ class PrinterExtruder:
decel_d -= extra_decel_d
# Prepare for steps
mcu_stepper = self.stepper.mcu_stepper
step_const = self.stepper.step_const
move_time = print_time
# Acceleration steps
if accel_d:
mcu_stepper.step_const(move_time, start_pos, accel_d, start_v, accel)
step_const(move_time, start_pos, accel_d, start_v, accel)
start_pos += accel_d
move_time += accel_t
# Cruising steps
if cruise_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 += cruise_t
# Deceleration steps
if decel_d:
mcu_stepper.step_const(
move_time, start_pos, decel_d, decel_v, -accel)
step_const(move_time, start_pos, decel_d, decel_v, -accel)
start_pos += decel_d
move_time += decel_t
# Retraction steps
if retract_d:
mcu_stepper.step_const(
move_time, start_pos, -retract_d, retract_v, accel)
step_const(move_time, start_pos, -retract_d, retract_v, accel)
start_pos -= retract_d
self.extrude_pos = start_pos