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stepcompress: Merge stepcompress_push_accel() and stepcompress_push_const()

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It's not necessary to have separate C 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 12:51:52 -04:00
parent 1d81bf5596
commit 98add22891
6 changed files with 48 additions and 82 deletions
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7
klippy/cartesian.py
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@@ -112,18 +112,19 @@ class CartKinematics:
# Acceleration steps
if move.accel_r:
accel_d = move.accel_r * axis_d
mcu_stepper.step_accel(
mcu_stepper.step_const(
mcu_time, start_pos, accel_d, move.start_v * axis_r, accel)
start_pos += accel_d
mcu_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
mcu_stepper.step_const(mcu_time, start_pos, cruise_d, cruise_v)
mcu_stepper.step_const(
mcu_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
mcu_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
mcu_stepper.step_accel(
mcu_stepper.step_const(
mcu_time, start_pos, decel_d, cruise_v, -accel)