h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

mcu: Pass print_time directly to MCU calls

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

24
klippy/delta.py
View File

@@ -123,14 +123,14 @@ class DeltaKinematics:
+ self.steppers[i].get_homed_offset()
for i in StepList]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
def motor_off(self, move_time):
def motor_off(self, print_time):
self.limit_xy2 = -1.
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
stepper.motor_enable(print_time, 0)
self.need_motor_enable = self.need_home = True
def _check_motor_enable(self, move_time):
def _check_motor_enable(self, print_time):
for i in StepList:
self.steppers[i].motor_enable(move_time, 1)
self.steppers[i].motor_enable(print_time, 1)
self.need_motor_enable = False
def query_endstops(self, print_time):
endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
@@ -164,9 +164,9 @@ class DeltaKinematics:
move.limit_speed(max_velocity * r, self.max_accel * r)
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def move(self, move_time, move):
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time)
self._check_motor_enable(print_time)
axes_d = move.axes_d
move_d = move.move_d
movexy_r = 1.
@@ -203,24 +203,24 @@ class DeltaKinematics:
# Generate steps
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
move_time = print_time
if accel_d:
mcu_stepper.step_delta(
mcu_time, accel_d, move.start_v, accel,
move_time, accel_d, move.start_v, accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += accel_d * movez_r
vt_startxy_d -= accel_d * movexy_r
mcu_time += move.accel_t
move_time += move.accel_t
if cruise_d:
mcu_stepper.step_delta(
mcu_time, cruise_d, cruise_v, 0.,
move_time, cruise_d, cruise_v, 0.,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += cruise_d * movez_r
vt_startxy_d -= cruise_d * movexy_r
mcu_time += move.cruise_t
move_time += move.cruise_t
if decel_d:
mcu_stepper.step_delta(
mcu_time, decel_d, cruise_v, -accel,
move_time, decel_d, cruise_v, -accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)