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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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10
klippy/stepper.py
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@ -12,21 +12,23 @@ class PrinterStepper:
self.name = config.section
if self.name.startswith('stepper_'):
self.name = self.name[8:]
self.step_dist = config.getfloat('step_distance', above=0.)
self.need_motor_enable = True
# Stepper definition
self.mcu_stepper = pins.setup_pin(
printer, 'stepper', config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('dir_pin'), can_invert=True)
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.step_dist = config.getfloat('step_distance', above=0.)
self.mcu_stepper.setup_step_distance(self.step_dist)
self.step_const = self.mcu_stepper.step_const
self.step_delta = self.mcu_stepper.step_delta
# Enable pin
enable_pin = config.get('enable_pin', None)
self.mcu_enable = None
if enable_pin is not None:
self.mcu_enable = pins.setup_pin(printer, 'digital_out', enable_pin)
self.mcu_enable.setup_max_duration(0.)
self.need_motor_enable = True
def _dist_to_time(self, dist, start_velocity, accel):
# Calculate the time it takes to travel a distance with constant accel
time_offset = start_velocity / accel