stepper_buzz: Convert to iterative solver

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-14 13:44:01 -04:00
parent bbe53cf8e5
commit eb73b5d0b0
2 changed files with 20 additions and 2 deletions
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -42,9 +42,11 @@ class MCU_stepper:
        self._step_dist = step_dist
        self._inv_step_dist = 1. / step_dist
    def setup_itersolve(self, sk):
+        old_sk = self._stepper_kinematics
        self._stepper_kinematics = sk
        self._ffi_lib.itersolve_set_stepcompress(
            sk, self._stepqueue, self._step_dist)
+        return old_sk
    def build_config(self):
        max_error = self._mcu.get_max_stepper_error()
        min_stop_interval = max(0., self._min_stop_interval - max_error)