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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/polar.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/polar.py')
| -rw-r--r-- | klippy/kinematics/polar.py | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 14c92437..98b7c7e1 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -1,10 +1,10 @@ # Code for handling the kinematics of polar robots # -# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2018-2021 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math -import stepper, homing +import stepper class PolarKinematics: def __init__(self, toolhead, config): @@ -32,6 +32,10 @@ class PolarKinematics: 'max_z_accel', max_accel, above=0., maxval=max_accel) self.limit_z = (1.0, -1.0) self.limit_xy2 = -1. + max_xy = self.rails[0].get_range()[1] + min_z, max_z = self.rails[1].get_range() + self.axes_min = toolhead.Coord(-max_xy, -max_xy, min_z, 0.) + self.axes_max = toolhead.Coord(max_xy, max_xy, max_z, 0.) # Setup stepper max halt velocity max_halt_velocity = toolhead.get_max_axis_halt() stepper_bed.set_max_jerk(max_halt_velocity, max_accel) @@ -108,14 +112,10 @@ class PolarKinematics: def get_status(self, eventtime): xy_home = "xy" if self.limit_xy2 >= 0. else "" z_home = "z" if self.limit_z[0] <= self.limit_z[1] else "" - lim_xy = self.rails[0].get_range() - lim_z = self.rails[1].get_range() - axes_min = [lim_xy[0], lim_xy[0], lim_z[0], 0.] - axes_max = [lim_xy[1], lim_xy[1], lim_z[1], 0.] return { 'homed_axes': xy_home + z_home, - 'axis_minimum': homing.Coord(*axes_min), - 'axis_maximum': homing.Coord(*axes_max) + 'axis_minimum': self.axes_min, + 'axis_maximum': self.axes_max, } def load_kinematics(toolhead, config): |