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kin_cartesian: Remove stepcompress_push_const()

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All the kinematic code now uses the iterative solver to generate
steps.  Remove the old stepcompress_push_const() mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-14 14:01:33 -04:00
parent eb73b5d0b0
commit 8f747e2720
6 changed files with 6 additions and 154 deletions
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24
klippy/mcu.py
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@@ -26,8 +26,7 @@ class MCU_stepper:
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
self._stepcompress_push_const = self._itersolve_gen_steps = None
self._stepper_kinematics = None
self._stepper_kinematics = self._itersolve_gen_steps = None
self.set_ignore_move(False)
def get_mcu(self):
return self._mcu
@@ -88,13 +87,11 @@ class MCU_stepper:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
def set_ignore_move(self, ignore_move):
was_ignore = (self._stepcompress_push_const
is not self._ffi_lib.stepcompress_push_const)
was_ignore = (self._itersolve_gen_steps
is not self._ffi_lib.itersolve_gen_steps)
if ignore_move:
self._stepcompress_push_const = (lambda *args: 0)
self._itersolve_gen_steps = (lambda *args: 0)
else:
self._stepcompress_push_const = self._ffi_lib.stepcompress_push_const
self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps
return was_ignore
def note_homing_start(self, homing_clock):
@@ -122,21 +119,6 @@ class MCU_stepper:
if self._invert_dir:
pos = -pos
self._commanded_pos = pos - self._mcu_position_offset
def step(self, print_time, sdir):
count = self._ffi_lib.stepcompress_push(
self._stepqueue, print_time, sdir)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_const(self, print_time, start_pos, dist, start_v, accel):
inv_step_dist = self._inv_step_dist
step_offset = self._commanded_pos - start_pos * inv_step_dist
count = self._stepcompress_push_const(
self._stepqueue, print_time, step_offset, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_itersolve(self, cmove):
count = self._itersolve_gen_steps(self._stepper_kinematics, cmove)
if count == STEPCOMPRESS_ERROR_RET: