force_move: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -1,6 +1,6 @@
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# Utility for manually moving a stepper for diagnostic purposes
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# Utility for manually moving a stepper for diagnostic purposes
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#
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import math, logging
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@ -30,8 +30,12 @@ class ForceMove:
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ffi_main, ffi_lib = chelper.get_ffi()
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ffi_main, ffi_lib = chelper.get_ffi()
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self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
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self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
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self.move_fill = ffi_lib.move_fill
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self.move_fill = ffi_lib.move_fill
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self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
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self.trapq_add_move = ffi_lib.trapq_add_move
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self.trapq_free_moves = ffi_lib.trapq_free_moves
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self.stepper_kinematics = ffi_main.gc(
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self.stepper_kinematics = ffi_main.gc(
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ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
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ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
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ffi_lib.itersolve_set_trapq(self.stepper_kinematics, self.trapq)
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# Register commands
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# Register commands
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
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self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
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@ -70,7 +74,10 @@ class ForceMove:
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accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
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accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
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self.move_fill(self.cmove, print_time, accel_t, cruise_t, accel_t,
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self.move_fill(self.cmove, print_time, accel_t, cruise_t, accel_t,
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0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
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0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
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stepper.step_itersolve(self.cmove)
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self.trapq_add_move(self.trapq, self.cmove)
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print_time += accel_t + cruise_t + accel_t
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stepper.generate_steps(print_time)
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self.trapq_free_moves(self.trapq, print_time)
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stepper.set_stepper_kinematics(prev_sk)
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stepper.set_stepper_kinematics(prev_sk)
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toolhead.dwell(accel_t + cruise_t + accel_t)
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toolhead.dwell(accel_t + cruise_t + accel_t)
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def _lookup_stepper(self, params):
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def _lookup_stepper(self, params):
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