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toolhead: Eliminate set_max_jerk() from kinematic classes

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Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-09-03 15:17:02 -04:00
parent 0d13834293
commit 7a81bfc4a4
6 changed files with 53 additions and 45 deletions
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13
klippy/cartesian.py
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@@ -9,20 +9,23 @@ import stepper, homing
StepList = (0, 1, 2)
class CartKinematics:
def __init__(self, printer, config):
def __init__(self, toolhead, printer, config):
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', 9999999.9, above=0.)
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', 9999999.9, above=0.)
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
# Setup stepper max halt velocity
max_xy_halt_velocity = toolhead.get_max_axis_halt(max_accel)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(0., self.max_z_accel)
max_z_halt_velocity = toolhead.get_max_axis_halt(self.max_z_accel)
self.steppers[2].set_max_jerk(max_z_halt_velocity, self.max_z_accel)
def set_position(self, newpos):
for i in StepList:
self.steppers[i].mcu_stepper.set_position(newpos[i])