toolhead: Move kinematic modules to new kinematics/ directory

Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory.  This is intended to make adding new
kinematics a little easier.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 173 insertions, 0 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
new file mode 100644
index 00000000..22ee5b98
--- /dev/null
+++ b/klippy/kinematics/cartesian.py
@@ -0,0 +1,173 @@
+# Code for handling the kinematics of cartesian robots
+#
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import stepper, homing, chelper
+
+class CartKinematics:
+    def __init__(self, toolhead, config):
+        self.printer = config.get_printer()
+        self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
+                      for n in ['x', 'y', 'z']]
+        max_velocity, max_accel = toolhead.get_max_velocity()
+        self.max_z_velocity = config.getfloat(
+            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
+        self.max_z_accel = config.getfloat(
+            'max_z_accel', max_accel, above=0., maxval=max_accel)
+        self.need_motor_enable = True
+        self.limits = [(1.0, -1.0)] * 3
+        # Setup iterative solver
+        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
+        for axis, rail in zip('xyz', self.rails):
+            rail.setup_cartesian_itersolve(axis)
+        # Setup stepper max halt velocity
+        max_halt_velocity = toolhead.get_max_axis_halt()
+        self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
+        self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
+        self.rails[2].set_max_jerk(
+            min(max_halt_velocity, self.max_z_velocity), max_accel)
+        # Check for dual carriage support
+        self.dual_carriage_axis = None
+        self.dual_carriage_rails = []
+        if config.has_section('dual_carriage'):
+            dc_config = config.getsection('dual_carriage')
+            dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
+            self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
+            dc_rail = stepper.LookupMultiRail(dc_config)
+            dc_rail.setup_cartesian_itersolve(dc_axis)
+            dc_rail.set_max_jerk(max_halt_velocity, max_accel)
+            self.dual_carriage_rails = [
+                self.rails[self.dual_carriage_axis], dc_rail]
+            self.printer.lookup_object('gcode').register_command(
+                'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
+                desc=self.cmd_SET_DUAL_CARRIAGE_help)
+    def get_rails(self, flags=""):
+        if flags == "Z":
+            return [self.rails[2]]
+        return list(self.rails)
+    def calc_position(self):
+        return [rail.get_commanded_position() for rail in self.rails]
+    def set_position(self, newpos, homing_axes):
+        for i, rail in enumerate(self.rails):
+            rail.set_position(newpos)
+            if i in homing_axes:
+                self.limits[i] = rail.get_range()
+    def _home_axis(self, homing_state, axis, rail):
+        # Determine moves
+        position_min, position_max = rail.get_range()
+        hi = rail.get_homing_info()
+        if hi.positive_dir:
+            pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min)
+            rpos = hi.position_endstop - hi.retract_dist
+            r2pos = rpos - hi.retract_dist
+        else:
+            pos = hi.position_endstop + 1.5*(position_max - hi.position_endstop)
+            rpos = hi.position_endstop + hi.retract_dist
+            r2pos = rpos + hi.retract_dist
+        # Initial homing
+        homing_speed = hi.speed
+        if axis == 2:
+            homing_speed = min(homing_speed, self.max_z_velocity)
+        homepos = [None, None, None, None]
+        homepos[axis] = hi.position_endstop
+        coord = [None, None, None, None]
+        coord[axis] = pos
+        homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
+        # Retract
+        coord[axis] = rpos
+        homing_state.retract(coord, homing_speed)
+        # Home again
+        coord[axis] = r2pos
+        homing_state.home(coord, homepos, rail.get_endstops(),
+                          homing_speed/2.0, second_home=True)
+        # Set final homed position
+        coord[axis] = hi.position_endstop + rail.get_homed_offset()
+        homing_state.set_homed_position(coord)
+    def home(self, homing_state):
+        # Each axis is homed independently and in order
+        for axis in homing_state.get_axes():
+            if axis == self.dual_carriage_axis:
+                dc1, dc2 = self.dual_carriage_rails
+                altc = self.rails[axis] == dc2
+                self._activate_carriage(0)
+                self._home_axis(homing_state, axis, dc1)
+                self._activate_carriage(1)
+                self._home_axis(homing_state, axis, dc2)
+                self._activate_carriage(altc)
+            else:
+                self._home_axis(homing_state, axis, self.rails[axis])
+    def motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
+        for rail in self.rails:
+            rail.motor_enable(print_time, 0)
+        for rail in self.dual_carriage_rails:
+            rail.motor_enable(print_time, 0)
+        self.need_motor_enable = True
+    def _check_motor_enable(self, print_time, move):
+        need_motor_enable = False
+        for i, rail in enumerate(self.rails):
+            if move.axes_d[i]:
+                rail.motor_enable(print_time, 1)
+            need_motor_enable |= not rail.is_motor_enabled()
+        self.need_motor_enable = need_motor_enable
+    def _check_endstops(self, move):
+        end_pos = move.end_pos
+        for i in (0, 1, 2):
+            if (move.axes_d[i]
+                and (end_pos[i] < self.limits[i][0]
+                     or end_pos[i] > self.limits[i][1])):
+                if self.limits[i][0] > self.limits[i][1]:
+                    raise homing.EndstopMoveError(
+                        end_pos, "Must home axis first")
+                raise homing.EndstopMoveError(end_pos)
+    def check_move(self, move):
+        limits = self.limits
+        xpos, ypos = move.end_pos[:2]
+        if (xpos < limits[0][0] or xpos > limits[0][1]
+            or ypos < limits[1][0] or ypos > limits[1][1]):
+            self._check_endstops(move)
+        if not move.axes_d[2]:
+            # Normal XY move - use defaults
+            return
+        # Move with Z - update velocity and accel for slower Z axis
+        self._check_endstops(move)
+        z_ratio = move.move_d / abs(move.axes_d[2])
+        move.limit_speed(
+            self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
+    def move(self, print_time, move):
+        if self.need_motor_enable:
+            self._check_motor_enable(print_time, move)
+        self.move_fill(
+            self.cmove, print_time,
+            move.accel_t, move.cruise_t, move.decel_t,
+            move.start_pos[0], move.start_pos[1], move.start_pos[2],
+            move.axes_d[0], move.axes_d[1], move.axes_d[2],
+            move.start_v, move.cruise_v, move.accel)
+        for i, rail in enumerate(self.rails):
+            if move.axes_d[i]:
+                rail.step_itersolve(self.cmove)
+    # Dual carriage support
+    def _activate_carriage(self, carriage):
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.get_last_move_time()
+        dc_rail = self.dual_carriage_rails[carriage]
+        dc_axis = self.dual_carriage_axis
+        self.rails[dc_axis] = dc_rail
+        extruder_pos = toolhead.get_position()[3]
+        toolhead.set_position(self.calc_position() + [extruder_pos])
+        if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
+            self.limits[dc_axis] = dc_rail.get_range()
+        self.need_motor_enable = True
+    cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
+    def cmd_SET_DUAL_CARRIAGE(self, params):
+        gcode = self.printer.lookup_object('gcode')
+        carriage = gcode.get_int('CARRIAGE', params, minval=0, maxval=1)
+        self._activate_carriage(carriage)
+        gcode.reset_last_position()
+
+def load_kinematics(toolhead, config):
+    return CartKinematics(toolhead, config)