Automatically reset the next step time to zero on a stepper_stop()
call. This makes the host code simpler as it no longer needs to
schedule an explicit reset_step_clock command on the step after a
homing operation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commits f0cefebf and 8f331f08 changed the way the code determined what
steps to take on fractional steps. Unfortunately, it was possible in
some situations for the C code to round differently from the python
code which could result in warnings and lost steps.
Change the code so that all fractional step handling is done in the C
code. Implementing the step rounding logic in one location avoids any
conflicts.
In order to efficiently handle the step rounding in the C code, the C
code has also been extended to directly send the "set_next_step_dir"
command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename get_homed_position() to get_homed_offset() and return the
endstop position delta in steps instead of an absolute position
relative to position_endstop. The conversion to absolute positions
can be dependent on the type of kinematics in use, so is inappropriate
to do in the low level stepper.py code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the owner of the stepper object to cacluate the maximum step
jerk velocity. This is used to ensure there is no communication error
between mcu and host.
Disable checking of jerk velocity for extruder stepper motors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
All users of max_step_velocity and max_step_accel end up multiplying
by step_dist anyway, so it's easier to store max_velocity and
max_accel.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor