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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-10-28 23:35:22 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 15:51:51 -0500 |
| commit | 746b928c8bd5208fd7bbde15472e9dcb40b9f351 (patch) | |
| tree | 159f81006d2f4afcbe1629625bbf4c8491d8f036 /klippy | |
| parent | 4b5cbc18a4a17f7a3c107693a4d7c1d32f0238c5 (diff) | |
| download | kutter-746b928c8bd5208fd7bbde15472e9dcb40b9f351.tar.gz kutter-746b928c8bd5208fd7bbde15472e9dcb40b9f351.tar.xz kutter-746b928c8bd5208fd7bbde15472e9dcb40b9f351.zip | |
winch: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/chelper/kin_winch.c | 3 | ||||
| -rw-r--r-- | klippy/kinematics/winch.py | 15 |
2 files changed, 6 insertions, 12 deletions
diff --git a/klippy/chelper/kin_winch.c b/klippy/chelper/kin_winch.c index 47a1ba92..c6501d27 100644 --- a/klippy/chelper/kin_winch.c +++ b/klippy/chelper/kin_winch.c @@ -1,6 +1,6 @@ // Cable winch stepper kinematics // -// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -37,5 +37,6 @@ winch_stepper_alloc(double anchor_x, double anchor_y, double anchor_z) hs->anchor.y = anchor_y; hs->anchor.z = anchor_z; hs->sk.calc_position_cb = winch_stepper_calc_position; + hs->sk.active_flags = AF_X | AF_Y | AF_Z; return &hs->sk; } diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 132d0964..30e18949 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -1,6 +1,6 @@ # Code for handling the kinematics of cable winch robots # -# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import stepper, mathutil @@ -20,13 +20,14 @@ class WinchKinematics: a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz']) self.anchors.append(a) s.setup_itersolve('winch_stepper_alloc', *a) + s.set_trapq(toolhead.get_trapq()) + toolhead.register_move_handler(s.generate_steps) # Setup stepper max halt velocity max_velocity, max_accel = toolhead.get_max_velocity() max_halt_velocity = toolhead.get_max_axis_halt() for s in self.steppers: s.set_max_jerk(max_halt_velocity, max_accel) # Setup boundary checks - self.need_motor_enable = True self.set_position([0., 0., 0.], ()) def get_steppers(self, flags=""): return list(self.steppers) @@ -44,19 +45,11 @@ class WinchKinematics: def motor_off(self, print_time): for s in self.steppers: s.motor_enable(print_time, 0) - self.need_motor_enable = True - def _check_motor_enable(self, print_time): - for s in self.steppers: - s.motor_enable(print_time, 1) - self.need_motor_enable = False def check_move(self, move): # XXX - boundary checks and speed limits not implemented pass def move(self, print_time, move): - if self.need_motor_enable: - self._check_motor_enable(print_time) - for s in self.steppers: - s.step_itersolve(move.cmove) + pass def get_status(self): # XXX - homed_checks and rail limits not implemented return {'homed_axes': 'XYZ'} |