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Diffstat (limited to 'klippy/corexy.py')
| -rw-r--r-- | klippy/corexy.py | 143 |
1 files changed, 0 insertions, 143 deletions
diff --git a/klippy/corexy.py b/klippy/corexy.py deleted file mode 100644 index 07330641..00000000 --- a/klippy/corexy.py +++ /dev/null @@ -1,143 +0,0 @@ -# Code for handling the kinematics of corexy robots -# -# Copyright (C) 2017-2018 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, chelper - -class CoreXYKinematics: - def __init__(self, toolhead, config): - self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')), - stepper.PrinterRail(config.getsection('stepper_y')), - stepper.LookupMultiRail(config.getsection('stepper_z')) ] - self.rails[0].add_to_endstop(self.rails[1].get_endstops()[0][0]) - self.rails[1].add_to_endstop(self.rails[0].get_endstops()[0][0]) - 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 - self.rails[0].setup_itersolve(ffi_main.gc( - ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free)) - self.rails[1].setup_itersolve(ffi_main.gc( - ffi_lib.corexy_stepper_alloc('-'), ffi_lib.free)) - self.rails[2].setup_cartesian_itersolve('z') - # Setup stepper max halt velocity - max_halt_velocity = toolhead.get_max_axis_halt() - max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.) - self.rails[0].set_max_jerk(max_xy_halt_velocity, max_accel) - self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel) - self.rails[2].set_max_jerk( - min(max_halt_velocity, self.max_z_velocity), self.max_z_accel) - def get_rails(self, flags=""): - if flags == "Z": - return [self.rails[2]] - return list(self.rails) - def calc_position(self): - pos = [rail.get_commanded_position() 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): - rail.set_position(newpos) - if i in homing_axes: - self.limits[i] = rail.get_range() - def home(self, homing_state): - # Each axis is homed independently and in order - for axis in homing_state.get_axes(): - rail = self.rails[axis] - # 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) - if axis == 2: - # Support endstop phase detection on Z axis - coord[axis] = hi.position_endstop + rail.get_homed_offset() - homing_state.set_homed_position(coord) - def motor_off(self, print_time): - self.limits = [(1.0, -1.0)] * 3 - for rail in self.rails: - rail.motor_enable(print_time, 0) - self.need_motor_enable = True - def _check_motor_enable(self, print_time, move): - if move.axes_d[0] or move.axes_d[1]: - self.rails[0].motor_enable(print_time, 1) - self.rails[1].motor_enable(print_time, 1) - if move.axes_d[2]: - self.rails[2].motor_enable(print_time, 1) - need_motor_enable = False - for rail in self.rails: - 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) - axes_d = move.axes_d - cmove = self.cmove - self.move_fill( - cmove, print_time, - move.accel_t, move.cruise_t, move.decel_t, - move.start_pos[0], move.start_pos[1], move.start_pos[2], - axes_d[0], axes_d[1], axes_d[2], - move.start_v, move.cruise_v, move.accel) - rail_x, rail_y, rail_z = self.rails - if axes_d[0] or axes_d[1]: - rail_x.step_itersolve(cmove) - rail_y.step_itersolve(cmove) - if axes_d[2]: - rail_z.step_itersolve(cmove) |