diff options
Diffstat (limited to 'klippy/delta.py')
| -rw-r--r-- | klippy/delta.py | 92 |
1 files changed, 62 insertions, 30 deletions
diff --git a/klippy/delta.py b/klippy/delta.py index 6d2490e5..7a294833 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -24,10 +24,11 @@ class DeltaKinematics: default_position=stepper_a.position_endstop) self.steppers = [stepper_a, stepper_b, stepper_c] self.need_motor_enable = self.need_home = True - radius = config.getfloat('delta_radius', above=0.) + self.radius = radius = config.getfloat('delta_radius', above=0.) arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius) - arm_lengths = [sconfig.getfloat('arm_length', arm_length_a, above=radius) - for sconfig in stepper_configs] + self.arm_lengths = arm_lengths = [ + sconfig.getfloat('arm_length', arm_length_a, above=radius) + for sconfig in stepper_configs] self.arm2 = [arm**2 for arm in arm_lengths] self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2) for s, arm2 in zip(self.steppers, self.arm2)] @@ -48,11 +49,12 @@ class DeltaKinematics: for s in self.steppers: s.set_max_jerk(max_halt_velocity, self.max_accel) # Determine tower locations in cartesian space - angles = [sconfig.getfloat('angle', angle) - for sconfig, angle in zip(stepper_configs, [210., 330., 90.])] + self.angles = [sconfig.getfloat('angle', angle) + for sconfig, angle in zip(stepper_configs, + [210., 330., 90.])] self.towers = [(math.cos(math.radians(angle)) * radius, math.sin(math.radians(angle)) * radius) - for angle in angles] + for angle in self.angles] # Find the point where an XY move could result in excessive # tower movement half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5 @@ -77,30 +79,7 @@ class DeltaKinematics: - (self.towers[i][1] - coord[1])**2) + coord[2] for i in StepList] def _actuator_to_cartesian(self, pos): - # Find nozzle position using trilateration (see wikipedia) - carriage1 = list(self.towers[0]) + [pos[0]] - carriage2 = list(self.towers[1]) + [pos[1]] - carriage3 = list(self.towers[2]) + [pos[2]] - - s21 = matrix_sub(carriage2, carriage1) - s31 = matrix_sub(carriage3, carriage1) - - d = math.sqrt(matrix_magsq(s21)) - ex = matrix_mul(s21, 1. / d) - i = matrix_dot(ex, s31) - vect_ey = matrix_sub(s31, matrix_mul(ex, i)) - ey = matrix_mul(vect_ey, 1. / math.sqrt(matrix_magsq(vect_ey))) - ez = matrix_cross(ex, ey) - j = matrix_dot(ey, s31) - - x = (self.arm2[0] - self.arm2[1] + d**2) / (2. * d) - y = (self.arm2[0] - self.arm2[2] - x**2 + (x-i)**2 + j**2) / (2. * j) - z = -math.sqrt(self.arm2[0] - x**2 - y**2) - - ex_x = matrix_mul(ex, x) - ey_y = matrix_mul(ey, y) - ez_z = matrix_mul(ez, z) - return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z))) + return actuator_to_cartesian(self.towers, self.arm2, pos) def get_position(self): spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers] return self._actuator_to_cartesian(spos) @@ -225,6 +204,21 @@ class DeltaKinematics: if decel_d: step_delta(move_time, decel_d, cruise_v, -accel, vt_startz, vt_startxy_d, vt_arm_d, movez_r) + # Helper functions for DELTA_CALIBRATE script + def get_stable_position(self): + return [int((ep - s.mcu_stepper.get_commanded_position()) + / s.mcu_stepper.get_step_dist() + .5) + * s.mcu_stepper.get_step_dist() + for ep, s in zip(self.endstops, self.steppers)] + def get_calibrate_params(self): + return { + 'endstop_a': self.steppers[0].position_endstop, + 'endstop_b': self.steppers[1].position_endstop, + 'endstop_c': self.steppers[2].position_endstop, + 'angle_a': self.angles[0], 'angle_b': self.angles[1], + 'angle_c': self.angles[2], 'radius': self.radius, + 'arm_a': self.arm_lengths[0], 'arm_b': self.arm_lengths[1], + 'arm_c': self.arm_lengths[2] } ###################################################################### @@ -250,3 +244,41 @@ def matrix_sub(m1, m2): def matrix_mul(m1, s): return [m1[0]*s, m1[1]*s, m1[2]*s] + +def actuator_to_cartesian(towers, arm2, pos): + # Find nozzle position using trilateration (see wikipedia) + carriage1 = list(towers[0]) + [pos[0]] + carriage2 = list(towers[1]) + [pos[1]] + carriage3 = list(towers[2]) + [pos[2]] + + s21 = matrix_sub(carriage2, carriage1) + s31 = matrix_sub(carriage3, carriage1) + + d = math.sqrt(matrix_magsq(s21)) + ex = matrix_mul(s21, 1. / d) + i = matrix_dot(ex, s31) + vect_ey = matrix_sub(s31, matrix_mul(ex, i)) + ey = matrix_mul(vect_ey, 1. / math.sqrt(matrix_magsq(vect_ey))) + ez = matrix_cross(ex, ey) + j = matrix_dot(ey, s31) + + x = (arm2[0] - arm2[1] + d**2) / (2. * d) + y = (arm2[0] - arm2[2] - x**2 + (x-i)**2 + j**2) / (2. * j) + z = -math.sqrt(arm2[0] - x**2 - y**2) + + ex_x = matrix_mul(ex, x) + ey_y = matrix_mul(ey, y) + ez_z = matrix_mul(ez, z) + return matrix_add(carriage1, matrix_add(ex_x, matrix_add(ey_y, ez_z))) + +def get_position_from_stable(spos, params): + angles = [params['angle_a'], params['angle_b'], params['angle_c']] + radius = params['radius'] + radius2 = radius**2 + towers = [(math.cos(angle) * radius, math.sin(angle) * radius) + for angle in map(math.radians, angles)] + arm2 = [a**2 for a in [params['arm_a'], params['arm_b'], params['arm_c']]] + endstops = [params['endstop_a'], params['endstop_b'], params['endstop_c']] + pos = [es + math.sqrt(a2 - radius2) - p + for es, a2, p in zip(endstops, arm2, spos)] + return actuator_to_cartesian(towers, arm2, pos) |