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stepcompress: Merge stepcompress_delta_const and stepcompress_delta_accel

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It's not necessary to have separate C delta kinematic functions for
constant acceleration and constant velocity as constant velocity can
be obtained by using a constant acceleration of zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-04-07 10:49:14 -04:00
parent df42b0d1ac
commit 85ed5cef7f
4 changed files with 74 additions and 126 deletions
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16
klippy/delta.py
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@@ -228,28 +228,28 @@ class DeltaKinematics:
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
if accel_up_d > 0.:
mcu_stepper.step_delta_accel(
mcu_stepper.step_delta(
mcu_time, 0., accel_up_d, move.start_v, accel,
origz, closestxy_d, closest_height2, movez_r)
if cruise_up_d > 0.:
mcu_stepper.step_delta_const(
mcu_time + accel_t, accel_d, cruise_up_d, cruise_v,
mcu_stepper.step_delta(
mcu_time + accel_t, accel_d, cruise_up_d, cruise_v, 0.,
origz, closestxy_d, closest_height2, movez_r)
if decel_up_d > 0.:
mcu_stepper.step_delta_accel(
mcu_stepper.step_delta(
mcu_time + cruise_end_t, cruise_end_d, decel_up_d,
cruise_v, -accel,
origz, closestxy_d, closest_height2, movez_r)
if accel_down_d > 0.:
mcu_stepper.step_delta_accel(
mcu_stepper.step_delta(
mcu_time, 0., -accel_down_d, move.start_v, accel,
origz, closestxy_d, closest_height2, movez_r)
if cruise_down_d > 0.:
mcu_stepper.step_delta_const(
mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v,
mcu_stepper.step_delta(
mcu_time + accel_t, accel_d, -cruise_down_d, cruise_v, 0.,
origz, closestxy_d, closest_height2, movez_r)
if decel_down_d > 0.:
mcu_stepper.step_delta_accel(
mcu_stepper.step_delta(
mcu_time + cruise_end_t, cruise_end_d, -decel_down_d,
cruise_v, -accel,
origz, closestxy_d, closest_height2, movez_r)