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corexy: Convert corexy to use the iterative solver

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-09 14:30:22 -04:00
parent ca0d0135dc
commit fc4a9e7564
5 changed files with 138 additions and 42 deletions
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19
klippy/stepper.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import homing
import homing, chelper
# Tracking of shared stepper enable pins
class StepperEnablePin:
@ -155,6 +155,10 @@ class PrinterHomingStepper(PrinterStepper):
self.homing_stepper_phases = None
if self.mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
def setup_cartesian_itersolve(self, axis):
ffi_main, ffi_lib = chelper.get_ffi()
self.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
def get_endstops(self):
return [(self.mcu_endstop, self.name)]
def get_homed_offset(self):
@ -182,6 +186,7 @@ class PrinterMultiStepper(PrinterHomingStepper):
self.endstops = PrinterHomingStepper.get_endstops(self)
self.extras = []
self.all_step_const = [self.step_const]
self.all_step_itersolve = [self.step_itersolve]
for i in range(1, 99):
if not config.has_section(config.get_name() + str(i)):
break
@ -189,6 +194,7 @@ class PrinterMultiStepper(PrinterHomingStepper):
extra = PrinterStepper(printer, extraconfig)
self.extras.append(extra)
self.all_step_const.append(extra.step_const)
self.all_step_itersolve.append(extra.step_itersolve)
extraendstop = extraconfig.get('endstop_pin', None)
if extraendstop is not None:
ppins = printer.lookup_object('pins')
@ -198,9 +204,20 @@ class PrinterMultiStepper(PrinterHomingStepper):
else:
self.mcu_endstop.add_stepper(extra.mcu_stepper)
self.step_const = self.step_multi_const
self.step_itersolve = self.step_multi_itersolve
def step_multi_const(self, print_time, start_pos, dist, start_v, accel):
for step_const in self.all_step_const:
step_const(print_time, start_pos, dist, start_v, accel)
def step_multi_itersolve(self, cmove):
for step_itersolve in self.all_step_itersolve:
step_itersolve(cmove)
def setup_cartesian_itersolve(self, axis):
ffi_main, ffi_lib = chelper.get_ffi()
self.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
for extra in self.extras:
extra.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
def set_max_jerk(self, max_halt_velocity, max_accel):
PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel)
for extra in self.extras: