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force_move: 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 11:49:13 -04:00
parent e6f713f1ce
commit ef53ded6bc
1 changed files with 9 additions and 2 deletions
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11
klippy/extras/force_move.py
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@ -1,6 +1,6 @@
# Utility for manually moving a stepper for diagnostic purposes
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
@ -30,8 +30,12 @@ class ForceMove:
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
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_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
ffi_lib.itersolve_set_trapq(self.stepper_kinematics, self.trapq)
# Register commands
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
@ -70,7 +74,10 @@ class ForceMove:
accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
self.move_fill(self.cmove, print_time, accel_t, cruise_t, accel_t,
0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
stepper.step_itersolve(self.cmove)
self.trapq_add_move(self.trapq, self.cmove)
print_time += accel_t + cruise_t + accel_t
stepper.generate_steps(print_time)
self.trapq_free_moves(self.trapq, print_time)
stepper.set_stepper_kinematics(prev_sk)
toolhead.dwell(accel_t + cruise_t + accel_t)
def _lookup_stepper(self, params):