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manual_stepper: Convert step generation to use trapq system 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-29 11:34:52 -04:00
parent 9845d0d103
commit e6f713f1ce
1 changed files with 7 additions and 5 deletions
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12
klippy/extras/manual_stepper.py
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@ -25,7 +25,11 @@ class ManualStepper:
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill self.move_fill = ffi_lib.move_fill
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_add_move = ffi_lib.trapq_add_move
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x') self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
self.stepper.set_trapq(self.trapq)
self.stepper.set_max_jerk(9999999.9, 9999999.9) self.stepper.set_max_jerk(9999999.9, 9999999.9)
# Register commands # Register commands
stepper_name = config.get_name().split()[1] stepper_name = config.get_name().split()[1]
@ -58,8 +62,10 @@ class ManualStepper:
accel_t, cruise_t, accel_t, accel_t, cruise_t, accel_t,
cp, 0., 0., dist, 0., 0., cp, 0., 0., dist, 0., 0.,
0., cruise_v, accel) 0., cruise_v, accel)
self.stepper.step_itersolve(self.cmove) self.trapq_add_move(self.trapq, self.cmove)
self.next_cmd_time += accel_t + cruise_t + accel_t self.next_cmd_time += accel_t + cruise_t + accel_t
self.stepper.generate_steps(self.next_cmd_time)
self.trapq_free_moves(self.trapq, self.next_cmd_time)
self.sync_print_time() self.sync_print_time()
def do_homing_move(self, movepos, speed, accel, triggered): def do_homing_move(self, movepos, speed, accel, triggered):
if not self.can_home: if not self.can_home:
@ -107,13 +113,9 @@ class ManualStepper:
accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.) accel = self.gcode.get_float('ACCEL', params, self.accel, minval=0.)
if homing_move: if homing_move:
movepos = self.gcode.get_float('MOVE', params) movepos = self.gcode.get_float('MOVE', params)
if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
self.do_enable(True)
self.do_homing_move(movepos, speed, accel, homing_move > 0) self.do_homing_move(movepos, speed, accel, homing_move > 0)
elif 'MOVE' in params: elif 'MOVE' in params:
movepos = self.gcode.get_float('MOVE', params) movepos = self.gcode.get_float('MOVE', params)
if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
self.do_enable(True)
self.do_move(movepos, speed, accel) self.do_move(movepos, speed, accel)
def handle_motor_off(self, print_time): def handle_motor_off(self, print_time):
self.do_enable(0) self.do_enable(0)