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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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8
klippy/stepper.py
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@@ -47,8 +47,6 @@ class PrinterStepper:
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 = self.mcu_stepper.step
self.step_const = self.mcu_stepper.step_const
self.step_itersolve = self.mcu_stepper.step_itersolve
self.setup_itersolve = self.mcu_stepper.setup_itersolve
self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
@@ -185,7 +183,6 @@ class PrinterMultiStepper(PrinterHomingStepper):
PrinterHomingStepper.__init__(self, printer, config)
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)):
@@ -193,7 +190,6 @@ class PrinterMultiStepper(PrinterHomingStepper):
extraconfig = config.getsection(config.get_name() + str(i))
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:
@@ -203,11 +199,7 @@ class PrinterMultiStepper(PrinterHomingStepper):
self.endstops.append((mcu_endstop, extra.name))
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)