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toolhead: Remove kinematic move() call 

Now that all kinematics use the trapq system, there is no need to call
into the kinematics on each g-code move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-29 11:52:56 -04:00
parent ef53ded6bc
commit befd263260
7 changed files with 0 additions and 13 deletions
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2
klippy/kinematics/cartesian.py
View File

@ -114,8 +114,6 @@ class CartKinematics:
z_ratio = move.move_d / abs(move.axes_d[2]) z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed( move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, print_time, move):
pass
def get_status(self): def get_status(self):
return {'homed_axes': "".join([a return {'homed_axes': "".join([a
for a, (l, h) in zip("XYZ", self.limits) if l <= h]) for a, (l, h) in zip("XYZ", self.limits) if l <= h])

2
klippy/kinematics/corexy.py
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@ -91,8 +91,6 @@ class CoreXYKinematics:
z_ratio = move.move_d / abs(move.axes_d[2]) z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed( move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, print_time, move):
pass
def get_status(self): def get_status(self):
return {'homed_axes': "".join([a return {'homed_axes': "".join([a
for a, (l, h) in zip("XYZ", self.limits) if l <= h]) for a, (l, h) in zip("XYZ", self.limits) if l <= h])

2
klippy/kinematics/delta.py
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@ -144,8 +144,6 @@ class DeltaKinematics:
move.limit_speed(max_velocity * r, self.max_accel * r) move.limit_speed(max_velocity * r, self.max_accel * r)
limit_xy2 = -1. limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2) self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def move(self, print_time, move):
pass
def get_status(self): def get_status(self):
return {'homed_axes': '' if self.need_home else 'XYZ'} return {'homed_axes': '' if self.need_home else 'XYZ'}

2
klippy/kinematics/none.py
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@ -19,8 +19,6 @@ class NoneKinematics:
pass pass
def check_move(self, move): def check_move(self, move):
pass pass
def move(self, print_time, move):
pass
def get_status(self): def get_status(self):
return {'homed_axes': ''} return {'homed_axes': ''}

2
klippy/kinematics/polar.py
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@ -104,8 +104,6 @@ class PolarKinematics:
z_ratio = move.move_d / abs(move.axes_d[2]) z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed( move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, print_time, move):
pass
def get_status(self): def get_status(self):
return {'homed_axes': (("XY" if self.limit_xy2 >= 0. else "") + return {'homed_axes': (("XY" if self.limit_xy2 >= 0. else "") +
("Z" if self.limit_z[0] <= self.limit_z[1] else ""))} ("Z" if self.limit_z[0] <= self.limit_z[1] else ""))}

2
klippy/kinematics/winch.py
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@ -48,8 +48,6 @@ class WinchKinematics:
def check_move(self, move): def check_move(self, move):
# XXX - boundary checks and speed limits not implemented # XXX - boundary checks and speed limits not implemented
pass pass
def move(self, print_time, move):
pass
def get_status(self): def get_status(self):
# XXX - homed_checks and rail limits not implemented # XXX - homed_checks and rail limits not implemented
return {'homed_axes': 'XYZ'} return {'homed_axes': 'XYZ'}

1
klippy/toolhead.py
View File

@ -104,7 +104,6 @@ class Move:
self.axes_d[0], self.axes_d[1], self.axes_d[2], self.axes_d[0], self.axes_d[1], self.axes_d[2],
self.start_v, self.cruise_v, self.accel) self.start_v, self.cruise_v, self.accel)
self.toolhead.trapq_add_move(self.toolhead.trapq, self.cmove) self.toolhead.trapq_add_move(self.toolhead.trapq, self.cmove)
self.toolhead.kin.move(next_move_time, self)
if self.axes_d[3]: if self.axes_d[3]:
self.toolhead.extruder.move(next_move_time, self) self.toolhead.extruder.move(next_move_time, self)
self.toolhead.update_move_time( self.toolhead.update_move_time(