diff options
Diffstat (limited to 'klippy/kinematics/cartesian.py')
| -rw-r--r-- | klippy/kinematics/cartesian.py | 89 |
1 files changed, 55 insertions, 34 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index f9030275..4d21c6e1 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -7,59 +7,70 @@ import logging import stepper from . import idex_modes + class CartKinematics: def __init__(self, toolhead, config): self.printer = config.get_printer() # Setup axis rails self.dual_carriage_axis = None self.dual_carriage_rails = [] - self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n)) - for n in 'xyz'] - for rail, axis in zip(self.rails, 'xyz'): - rail.setup_itersolve('cartesian_stepper_alloc', axis.encode()) + self.rails = [ + stepper.LookupMultiRail(config.getsection("stepper_" + n)) for n in "xyz" + ] + for rail, axis in zip(self.rails, "xyz"): + rail.setup_itersolve("cartesian_stepper_alloc", axis.encode()) ranges = [r.get_range() for r in self.rails] - self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.) - self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.) + self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.0) + self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.0) self.dc_module = None - if config.has_section('dual_carriage'): - dc_config = config.getsection('dual_carriage') - dc_axis = dc_config.getchoice('axis', ['x', 'y']) - self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis] + if config.has_section("dual_carriage"): + dc_config = config.getsection("dual_carriage") + dc_axis = dc_config.getchoice("axis", ["x", "y"]) + self.dual_carriage_axis = {"x": 0, "y": 1}[dc_axis] # setup second dual carriage rail self.rails.append(stepper.LookupMultiRail(dc_config)) - self.rails[3].setup_itersolve('cartesian_stepper_alloc', - dc_axis.encode()) + self.rails[3].setup_itersolve("cartesian_stepper_alloc", dc_axis.encode()) self.dc_module = idex_modes.DualCarriages( - self.printer, [self.rails[self.dual_carriage_axis]], - [self.rails[3]], axes=[self.dual_carriage_axis], - safe_dist=dc_config.getfloat( - 'safe_distance', None, minval=0.)) + self.printer, + [self.rails[self.dual_carriage_axis]], + [self.rails[3]], + axes=[self.dual_carriage_axis], + safe_dist=dc_config.getfloat("safe_distance", None, minval=0.0), + ) for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) # Setup boundary checks 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.max_z_velocity = config.getfloat( + "max_z_velocity", max_velocity, above=0.0, maxval=max_velocity + ) + self.max_z_accel = config.getfloat( + "max_z_accel", max_accel, above=0.0, maxval=max_accel + ) 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_position(self, stepper_positions): rails = self.rails if self.dc_module: - primary_rail = self.dc_module.get_primary_rail( - self.dual_carriage_axis) - rails = (rails[:self.dual_carriage_axis] + - [primary_rail] + rails[self.dual_carriage_axis+1:]) + primary_rail = self.dc_module.get_primary_rail(self.dual_carriage_axis) + rails = ( + rails[: self.dual_carriage_axis] + + [primary_rail] + + rails[self.dual_carriage_axis + 1 :] + ) return [stepper_positions[rail.get_name()] for rail in rails] + def update_limits(self, i, range): l, h = self.limits[i] # Only update limits if this axis was already homed, # otherwise leave in un-homed state. if l <= h: self.limits[i] = range + def set_position(self, newpos, homing_axes): for i, rail in enumerate(self.rails): rail.set_position(newpos) @@ -70,10 +81,12 @@ class CartKinematics: else: rail = self.rails[axis] self.limits[axis] = rail.get_range() + def clear_homing_state(self, clear_axes): for axis, axis_name in enumerate("xyz"): if axis_name in clear_axes: self.limits[axis] = (1.0, -1.0) + def home_axis(self, homing_state, axis, rail): # Determine movement position_min, position_max = rail.get_range() @@ -87,6 +100,7 @@ class CartKinematics: forcepos[axis] += 1.5 * (position_max - hi.position_endstop) # Perform homing homing_state.home_rails([rail], forcepos, homepos) + def home(self, homing_state): # Each axis is homed independently and in order for axis in homing_state.get_axes(): @@ -94,20 +108,26 @@ class CartKinematics: self.dc_module.home(homing_state, self.dual_carriage_axis) else: self.home_axis(homing_state, axis, self.rails[axis]) + 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 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 move.move_error("Must home axis first") raise move.move_error() + 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]): + 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 @@ -115,15 +135,16 @@ class CartKinematics: # 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) + move.limit_speed(self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) + def get_status(self, eventtime): axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h] return { - 'homed_axes': "".join(axes), - 'axis_minimum': self.axes_min, - 'axis_maximum': self.axes_max, + "homed_axes": "".join(axes), + "axis_minimum": self.axes_min, + "axis_maximum": self.axes_max, } + def load_kinematics(toolhead, config): return CartKinematics(toolhead, config) |