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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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25
klippy/extruder.py
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@@ -50,8 +50,8 @@ class PrinterExtruder:
if is_active:
return self.activate_gcode
return self.deactivate_gcode
def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0)
def motor_off(self, print_time):
self.stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
@@ -131,9 +131,9 @@ class PrinterExtruder:
return i
move.extrude_max_corner_v = max_corner_v
return flush_count
def move(self, move_time, move):
def move(self, print_time, move):
if self.need_motor_enable:
self.stepper.motor_enable(move_time, 1)
self.stepper.motor_enable(print_time, 1)
self.need_motor_enable = False
axis_d = move.axes_d[3]
axis_r = abs(axis_d) / move.move_d
@@ -190,27 +190,28 @@ class PrinterExtruder:
# Prepare for steps
mcu_stepper = self.stepper.mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
move_time = print_time
# Acceleration steps
if accel_d:
mcu_stepper.step_const(mcu_time, start_pos, accel_d, start_v, accel)
mcu_stepper.step_const(move_time, start_pos, accel_d, start_v, accel)
start_pos += accel_d
mcu_time += accel_t
move_time += accel_t
# Cruising steps
if cruise_d:
mcu_stepper.step_const(mcu_time, start_pos, cruise_d, cruise_v, 0.)
mcu_stepper.step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
mcu_time += cruise_t
move_time += cruise_t
# Deceleration steps
if decel_d:
mcu_stepper.step_const(mcu_time, start_pos, decel_d, decel_v, -accel)
mcu_stepper.step_const(
move_time, start_pos, decel_d, decel_v, -accel)
start_pos += decel_d
mcu_time += decel_t
move_time += decel_t
# Retraction steps
if retract_d:
mcu_stepper.step_const(
mcu_time, start_pos, -retract_d, retract_v, accel)
move_time, start_pos, -retract_d, retract_v, accel)
start_pos -= retract_d
self.extrude_pos = start_pos