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-rw-r--r--docs/Code_Overview.md11
-rw-r--r--klippy/extras/delta_calibrate.py6
-rw-r--r--klippy/extras/endstop_phase.py17
-rw-r--r--klippy/extras/gcode_move.py10
-rw-r--r--klippy/extras/homing.py25
-rw-r--r--klippy/extras/manual_probe.py6
-rw-r--r--klippy/kinematics/cartesian.py4
-rw-r--r--klippy/kinematics/corexy.py4
-rw-r--r--klippy/kinematics/corexz.py4
-rw-r--r--klippy/kinematics/delta.py4
-rw-r--r--klippy/kinematics/hybrid_corexy.py4
-rw-r--r--klippy/kinematics/hybrid_corexz.py4
-rw-r--r--klippy/kinematics/none.py2
-rw-r--r--klippy/kinematics/polar.py8
-rw-r--r--klippy/kinematics/rotary_delta.py4
-rw-r--r--klippy/kinematics/winch.py6
-rw-r--r--klippy/stepper.py9
17 files changed, 62 insertions, 66 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md
index f7d14463..167b7c18 100644
--- a/docs/Code_Overview.md
+++ b/docs/Code_Overview.md
@@ -331,12 +331,11 @@ Useful steps:
seconds) to a cartesian coordinate (in millimeters), and then
calculate the desired stepper position (in millimeters) from that
cartesian coordinate.
-4. Implement the `calc_tag_position()` method in the new kinematics
- class. This method calculates the position of the toolhead in
- cartesian coordinates from the position of each stepper (as
- returned by `stepper.get_tag_position()`). It does not need to be
- efficient as it is typically only called during homing and probing
- operations.
+4. Implement the `calc_position()` method in the new kinematics class.
+ This method calculates the position of the toolhead in cartesian
+ coordinates from the position of each stepper. It does not need to
+ be efficient as it is typically only called during homing and
+ probing operations.
5. Other methods. Implement the `check_move()`, `get_status()`,
`get_steppers()`, `home()`, and `set_position()` methods. These
functions are typically used to provide kinematic specific checks.
diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py
index a2e0d361..4301c89a 100644
--- a/klippy/extras/delta_calibrate.py
+++ b/klippy/extras/delta_calibrate.py
@@ -233,9 +233,9 @@ class DeltaCalibrate:
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
kin = toolhead.get_kinematics()
- for s in kin.get_steppers():
- s.set_tag_position(s.get_commanded_position())
- kin_pos = kin.calc_tag_position()
+ kin_spos = {s.get_name(): s.get_commanded_position()
+ for s in kin.get_steppers()}
+ kin_pos = kin.calc_position(kin_spos)
# Convert location to a stable position
delta_params = kin.get_calibration()
stable_pos = tuple(delta_params.calc_stable_position(kin_pos))
diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py
index 8e70be74..a2b2b548 100644
--- a/klippy/extras/endstop_phase.py
+++ b/klippy/extras/endstop_phase.py
@@ -102,17 +102,16 @@ class EndstopPhase:
self.name, phase, self.endstop_phase))
return delta * self.step_dist
def handle_home_rails_end(self, homing_state, rails):
+ kin_spos = homing_state.get_stepper_trigger_positions()
+ orig_pos = kin_spos.get(self.name)
+ if orig_pos is None:
+ return
for rail in rails:
stepper = rail.get_steppers()[0]
- if stepper.get_name() != self.name:
- continue
- orig_pos = rail.get_tag_position()
- offset = self.get_homed_offset(stepper)
- pos = self.align_endstop(orig_pos) + offset
- if pos == orig_pos:
- return False
- rail.set_tag_position(pos)
- return True
+ if stepper.get_name() == self.name:
+ offset = self.get_homed_offset(stepper)
+ kin_spos[self.name] = self.align_endstop(orig_pos) + offset
+ return
class EndstopPhases:
def __init__(self, config):
diff --git a/klippy/extras/gcode_move.py b/klippy/extras/gcode_move.py
index 306b4b35..77087162 100644
--- a/klippy/extras/gcode_move.py
+++ b/klippy/extras/gcode_move.py
@@ -247,12 +247,10 @@ class GCodeMove:
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
for s in steppers])
- for s in steppers:
- s.set_tag_position(s.get_commanded_position())
- stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
- for s in steppers])
- kin_pos = " ".join(["%s:%.6f" % (a, v)
- for a, v in zip("XYZ", kin.calc_tag_position())])
+ cinfo = [(s.get_name(), s.get_commanded_position()) for s in steppers]
+ stepper_pos = " ".join(["%s:%.6f" % (a, v) for a, v in cinfo])
+ kinfo = zip("XYZ", kin.calc_position(dict(cinfo)))
+ kin_pos = " ".join(["%s:%.6f" % (a, v) for a, v in kinfo])
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
"XYZE", toolhead.get_position())])
gcode_pos = " ".join(["%s:%.6f" % (a, v)
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index a1167e2e..f6dead84 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -46,8 +46,8 @@ class HomingMove:
# Note start location
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
- for s in kin.get_steppers():
- s.set_tag_position(s.get_commanded_position())
+ kin_spos = {s.get_name(): s.get_commanded_position()
+ for s in kin.get_steppers()}
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in self.endstops
for s in es.get_steppers()]
@@ -80,9 +80,10 @@ class HomingMove:
for s, name, spos in start_mcu_pos]
if probe_pos:
for s, name, spos, epos in self.end_mcu_pos:
- md = (epos - spos) * s.get_step_dist()
- s.set_tag_position(s.get_tag_position() + md)
- movepos = list(kin.calc_tag_position())[:3] + movepos[3:]
+ sname = s.get_name()
+ if sname in kin_spos:
+ kin_spos[sname] += (epos - spos) * s.get_step_dist()
+ movepos = list(kin.calc_position(kin_spos))[:3] + movepos[3:]
self.toolhead.set_position(movepos)
# Signal homing/probing move complete
try:
@@ -107,10 +108,13 @@ class Homing:
self.printer = printer
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
+ self.kin_spos = {}
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
+ def get_stepper_trigger_positions(self):
+ return self.kin_spos
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
@@ -155,12 +159,13 @@ class Homing:
# Signal home operation complete
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
- for s in kin.get_steppers():
- s.set_tag_position(s.get_commanded_position())
- ret = self.printer.send_event("homing:home_rails_end", self, rails)
- if any(ret):
+ kin_spos = {s.get_name(): s.get_commanded_position()
+ for s in kin.get_steppers()}
+ self.kin_spos = dict(kin_spos)
+ self.printer.send_event("homing:home_rails_end", self, rails)
+ if kin_spos != self.kin_spos:
# Apply any homing offsets
- adjustpos = kin.calc_tag_position()
+ adjustpos = kin.calc_position(self.kin_spos)
for axis in homing_axes:
movepos[axis] = adjustpos[axis]
self.toolhead.set_position(movepos)
diff --git a/klippy/extras/manual_probe.py b/klippy/extras/manual_probe.py
index 69ce79e9..83c9aa2f 100644
--- a/klippy/extras/manual_probe.py
+++ b/klippy/extras/manual_probe.py
@@ -82,9 +82,9 @@ class ManualProbeHelper:
return self.last_kinematics_pos
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
- for s in kin.get_steppers():
- s.set_tag_position(s.get_commanded_position())
- kin_pos = kin.calc_tag_position()
+ kin_spos = {s.get_name(): s.get_commanded_position()
+ for s in kin.get_steppers()}
+ kin_pos = kin.calc_position(kin_spos)
self.last_toolhead_pos = toolhead_pos
self.last_kinematics_pos = kin_pos
return kin_pos
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index e2c21900..6c44c120 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -51,8 +51,8 @@ class CartKinematics:
dca = self.dual_carriage_axis
rails = rails[:dca] + self.dual_carriage_rails + rails[dca+1:]
return [s for rail in rails for s in rail.get_steppers()]
- def calc_tag_position(self):
- return [rail.get_tag_position() for rail in self.rails]
+ def calc_position(self, stepper_positions):
+ return [stepper_positions[rail.get_name()] for rail in self.rails]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 451a88aa..33f5fcf5 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -36,8 +36,8 @@ class CoreXYKinematics:
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
- def calc_tag_position(self):
- pos = [rail.get_tag_position() for rail in self.rails]
+ def calc_position(self, stepper_positions):
+ pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index 698e4c08..dbd5c372 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -36,8 +36,8 @@ class CoreXZKinematics:
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
- def calc_tag_position(self):
- pos = [rail.get_tag_position() for rail in self.rails]
+ def calc_position(self, stepper_positions):
+ pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [0.5 * (pos[0] + pos[2]), pos[1], 0.5 * (pos[0] - pos[2])]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index 0d17ed19..104d2122 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -92,8 +92,8 @@ class DeltaKinematics:
def _actuator_to_cartesian(self, spos):
sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)]
return mathutil.trilateration(sphere_coords, self.arm2)
- def calc_tag_position(self):
- spos = [rail.get_tag_position() for rail in self.rails]
+ def calc_position(self, stepper_positions):
+ spos = [stepper_positions[rail.get_name()] for rail in self.rails]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
for rail in self.rails:
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 74657e25..43cf7dd9 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -37,8 +37,8 @@ class HybridCoreXYKinematics:
self.limits = [(1.0, -1.0)] * 3
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
- def calc_tag_position(self):
- pos = [rail.get_tag_position() for rail in self.rails]
+ def calc_position(self, stepper_positions):
+ pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [pos[0] + pos[1], pos[1], pos[2]]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py
index 85f81ce9..47aa430e 100644
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -37,8 +37,8 @@ class HybridCoreXZKinematics:
self.limits = [(1.0, -1.0)] * 3
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
- def calc_tag_position(self):
- pos = [rail.get_tag_position() for rail in self.rails]
+ def calc_position(self, stepper_positions):
+ pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [pos[0] + pos[2], pos[1], pos[2]]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index fdc3d4c4..ff3c57a9 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -9,7 +9,7 @@ class NoneKinematics:
self.axes_minmax = toolhead.Coord(0., 0., 0., 0.)
def get_steppers(self):
return []
- def calc_tag_position(self):
+ def calc_position(self, stepper_positions):
return [0, 0, 0]
def set_position(self, newpos, homing_axes):
pass
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index baa3a11c..ef8c0d97 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -38,10 +38,10 @@ class PolarKinematics:
self.axes_max = toolhead.Coord(max_xy, max_xy, max_z, 0.)
def get_steppers(self):
return list(self.steppers)
- def calc_tag_position(self):
- bed_angle = self.steppers[0].get_tag_position()
- arm_pos = self.rails[0].get_tag_position()
- z_pos = self.rails[1].get_tag_position()
+ def calc_position(self, stepper_positions):
+ bed_angle = stepper_positions[self.steppers[0].get_name()]
+ arm_pos = stepper_positions[self.rails[0].get_name()]
+ z_pos = stepper_positions[self.rails[1].get_name()]
return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos,
z_pos]
def set_position(self, newpos, homing_axes):
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index f61ed34a..1eb050ba 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -79,8 +79,8 @@ class RotaryDeltaKinematics:
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
- def calc_tag_position(self):
- spos = [rail.get_tag_position() for rail in self.rails]
+ def calc_position(self, stepper_positions):
+ spos = [stepper_positions[rail.get_name()] for rail in self.rails]
return self.calibration.actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
for rail in self.rails:
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 58737b58..11475d24 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -29,10 +29,10 @@ class WinchKinematics:
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return list(self.steppers)
- def calc_tag_position(self):
+ def calc_position(self, stepper_positions):
# Use only first three steppers to calculate cartesian position
- spos = [s.get_tag_position() for s in self.steppers[:3]]
- return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
+ pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]]
+ return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in pos])
def set_position(self, newpos, homing_axes):
for s in self.steppers:
s.set_position(newpos)
diff --git a/klippy/stepper.py b/klippy/stepper.py
index d6800a94..9b7263c1 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -31,7 +31,7 @@ class MCU_stepper:
"Stepper dir pin must be on same mcu as step pin")
self._dir_pin = dir_pin_params['pin']
self._invert_dir = dir_pin_params['invert']
- self._mcu_position_offset = self._tag_position = 0.
+ self._mcu_position_offset = 0.
self._reset_cmd_tag = self._get_position_cmd = None
self._active_callbacks = []
ffi_main, ffi_lib = chelper.get_ffi()
@@ -108,10 +108,6 @@ class MCU_stepper:
if mcu_pos >= 0.:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
- def get_tag_position(self):
- return self._tag_position
- def set_tag_position(self, position):
- self._tag_position = position
def get_past_mcu_position(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
ffi_main, ffi_lib = chelper.get_ffi()
@@ -258,9 +254,8 @@ class PrinterRail:
self.endstops = []
self.add_extra_stepper(config)
mcu_stepper = self.steppers[0]
+ self.get_name = mcu_stepper.get_name
self.get_commanded_position = mcu_stepper.get_commanded_position
- self.get_tag_position = mcu_stepper.get_tag_position
- self.set_tag_position = mcu_stepper.set_tag_position
self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
# Primary endstop position
mcu_endstop = self.endstops[0][0]
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-01 20:06:37 +0000