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@@ -423,19 +423,10 @@ void set_axes_dir(uint8_t axes, uint8_t dir){
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sm4_set_dir(Z_AXIS, dir & Z_AXIS_MASK);
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}
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-void go_step(uint8_t axes){
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- if (axes & X_AXIS_MASK)
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- sm4_do_step(X_AXIS);
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- if (axes & Y_AXIS_MASK)
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- sm4_do_step(Y_AXIS);
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- if (axes & Z_AXIS_MASK)
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- sm4_do_step(Z_AXIS);
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-}
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-
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/// Accelerate up to max.speed (defined by @min_delay_us)
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/// does not update global positions
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void accelerate_1_step(uint8_t axes, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
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- go_step(axes);
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+ sm4_do_step(axes);
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/// keep max speed (avoid extra computation)
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if (acc > 0 && delay_us == min_delay_us){
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@@ -492,7 +483,7 @@ bool go_and_stop_1_step(uint8_t axes, int16_t dec, uint16_t &delay_us, uint16_t
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uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec));
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if (steps > s){
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/// go steady
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- go_step(axes);
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+ sm4_do_step(axes);
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delayMicroseconds(delay_us);
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} else {
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/// decelerate
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espr14