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| author | Kevin O'Connor <kevin@koconnor.net> | 2021-01-08 11:52:28 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2021-01-08 11:52:28 -0500 |
| commit | c8434ec54b0517503af4aeee9016783d508118b0 (patch) | |
| tree | 7229f2ea5c4f63a7fad9c46ef6f84adc614b96fa /klippy/kinematics/cartesian.py | |
| parent | f79187d726d00c7215448e5953cdb0dd8d490683 (diff) | |
| download | kutter-c8434ec54b0517503af4aeee9016783d508118b0.tar.gz kutter-c8434ec54b0517503af4aeee9016783d508118b0.tar.xz kutter-c8434ec54b0517503af4aeee9016783d508118b0.zip | |
kinematics: Calculate axis_minimum/axis_maximum in advance
Calculate the get_status() axis_minimum and axis_maximum fields in
advance so that they don't need to be calculated on each get_status()
call.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/kinematics/cartesian.py')
| -rw-r--r-- | klippy/kinematics/cartesian.py | 27 |
1 files changed, 13 insertions, 14 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index ed9b19b3..c2ca350a 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -1,10 +1,10 @@ # Code for handling the kinematics of cartesian robots # -# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import logging -import stepper, homing +import stepper class CartKinematics: def __init__(self, toolhead, config): @@ -23,17 +23,20 @@ class CartKinematics: self._motor_off) # Setup boundary checks 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.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.limits = [(1.0, -1.0)] * 3 + ranges = [r.get_range() for r in self.rails] + self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.) + self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.) # 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) + self.rails[2].set_max_jerk(min(max_halt_velocity, self.max_z_velocity), + max_accel) # Check for dual carriage support if config.has_section('dual_carriage'): dc_config = config.getsection('dual_carriage') @@ -118,14 +121,10 @@ class CartKinematics: self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) def get_status(self, eventtime): axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h] - axes_min = [0.0, 0.0, 0.0, 0.0] - axes_max = [0.0, 0.0, 0.0, 0.0] - for pos, rail in enumerate(self.rails): - axes_min[pos], axes_max[pos] = rail.get_range() return { 'homed_axes': "".join(axes), - 'axis_minimum': homing.Coord(*axes_min), - 'axis_maximum': homing.Coord(*axes_max) + 'axis_minimum': self.axes_min, + 'axis_maximum': self.axes_max, } # Dual carriage support def _activate_carriage(self, carriage): |