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mcu: Pass print_time directly to MCU calls

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Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-09-12 12:47:40 -04:00
parent 5dfe4e1eb9
commit a100f174f9
8 changed files with 108 additions and 119 deletions
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24
klippy/cartesian.py
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@@ -62,16 +62,16 @@ class CartKinematics:
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def motor_off(self, move_time):
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, move_time, move):
def _check_motor_enable(self, print_time, move):
need_motor_enable = False
for i in StepList:
if move.axes_d[i]:
self.steppers[i].motor_enable(move_time, 1)
self.steppers[i].motor_enable(print_time, 1)
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def query_endstops(self, print_time):
@@ -101,15 +101,15 @@ class CartKinematics:
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, move_time, move):
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time, move)
self._check_motor_enable(print_time, move)
for i in StepList:
axis_d = move.axes_d[i]
if not axis_d:
continue
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
move_time = print_time
start_pos = move.start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
@@ -119,18 +119,18 @@ class CartKinematics:
if move.accel_r:
accel_d = move.accel_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, accel_d, move.start_v * axis_r, accel)
move_time, start_pos, accel_d, move.start_v * axis_r, accel)
start_pos += accel_d
mcu_time += move.accel_t
move_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, 0.)
move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
mcu_time += move.cruise_t
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, decel_d, cruise_v, -accel)
move_time, start_pos, decel_d, cruise_v, -accel)