diff options
Diffstat (limited to 'klippy/corexy.py')
| -rw-r--r-- | klippy/corexy.py | 62 |
1 files changed, 25 insertions, 37 deletions
diff --git a/klippy/corexy.py b/klippy/corexy.py index 2777eade..e252b05f 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -1,10 +1,10 @@ # Code for handling the kinematics of corexy robots # -# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net> +# 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 +import stepper, homing, chelper StepList = (0, 1, 2) @@ -26,6 +26,15 @@ class CoreXYKinematics: '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.steppers[0].setup_itersolve(ffi_main.gc( + ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free)) + self.steppers[1].setup_itersolve(ffi_main.gc( + ffi_lib.corexy_stepper_alloc('-'), ffi_lib.free)) + self.steppers[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.) @@ -124,38 +133,17 @@ class CoreXYKinematics: def move(self, print_time, move): if self.need_motor_enable: self._check_motor_enable(print_time, move) - sxp = move.start_pos[0] - syp = move.start_pos[1] - move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2]) - exp = move.end_pos[0] - eyp = move.end_pos[1] - axes_d = ((exp + eyp) - move_start_pos[0], - (exp - eyp) - move_start_pos[1], move.axes_d[2]) - for i in StepList: - axis_d = axes_d[i] - if not axis_d: - continue - step_const = self.steppers[i].step_const - move_time = print_time - start_pos = move_start_pos[i] - axis_r = abs(axis_d) / move.move_d - accel = move.accel * axis_r - cruise_v = move.cruise_v * axis_r - - # Acceleration steps - if move.accel_r: - accel_d = move.accel_r * axis_d - step_const(move_time, start_pos, accel_d, - move.start_v * axis_r, accel) - start_pos += accel_d - move_time += move.accel_t - # Cruising steps - if move.cruise_r: - cruise_d = move.cruise_r * axis_d - step_const(move_time, start_pos, cruise_d, cruise_v, 0.) - start_pos += cruise_d - move_time += move.cruise_t - # Deceleration steps - if move.decel_r: - decel_d = move.decel_r * axis_d - step_const(move_time, start_pos, decel_d, cruise_v, -accel) + 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) + stepper_a, stepper_b, stepper_z = self.steppers + if axes_d[0] or axes_d[1]: + stepper_a.step_itersolve(cmove) + stepper_b.step_itersolve(cmove) + if axes_d[2]: + stepper_z.step_itersolve(cmove) |