diff options
Diffstat (limited to 'klippy/kinematics/cartesian.py')
| -rw-r--r-- | klippy/kinematics/cartesian.py | 173 |
1 files changed, 173 insertions, 0 deletions
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py new file mode 100644 index 00000000..22ee5b98 --- /dev/null +++ b/klippy/kinematics/cartesian.py @@ -0,0 +1,173 @@ +# Code for handling the kinematics of cartesian robots +# +# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import logging +import stepper, homing, chelper + +class CartKinematics: + def __init__(self, toolhead, config): + self.printer = config.get_printer() + self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n)) + for n in ['x', 'y', 'z']] + 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 + for axis, rail in zip('xyz', self.rails): + rail.setup_cartesian_itersolve(axis) + # Setup stepper max halt velocity + max_halt_velocity = toolhead.get_max_axis_halt() + self.rails[0].set_max_jerk(max_halt_velocity, max_accel) + self.rails[1].set_max_jerk(max_halt_velocity, max_accel) + self.rails[2].set_max_jerk( + min(max_halt_velocity, self.max_z_velocity), max_accel) + # Check for dual carriage support + self.dual_carriage_axis = None + self.dual_carriage_rails = [] + if config.has_section('dual_carriage'): + dc_config = config.getsection('dual_carriage') + dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'}) + self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis] + dc_rail = stepper.LookupMultiRail(dc_config) + dc_rail.setup_cartesian_itersolve(dc_axis) + dc_rail.set_max_jerk(max_halt_velocity, max_accel) + self.dual_carriage_rails = [ + self.rails[self.dual_carriage_axis], dc_rail] + self.printer.lookup_object('gcode').register_command( + 'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE, + desc=self.cmd_SET_DUAL_CARRIAGE_help) + def get_rails(self, flags=""): + if flags == "Z": + return [self.rails[2]] + return list(self.rails) + def calc_position(self): + return [rail.get_commanded_position() for rail in self.rails] + 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_axis(self, homing_state, axis, rail): + # 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) + # Set final homed position + coord[axis] = hi.position_endstop + rail.get_homed_offset() + homing_state.set_homed_position(coord) + def home(self, homing_state): + # Each axis is homed independently and in order + for axis in homing_state.get_axes(): + if axis == self.dual_carriage_axis: + dc1, dc2 = self.dual_carriage_rails + altc = self.rails[axis] == dc2 + self._activate_carriage(0) + self._home_axis(homing_state, axis, dc1) + self._activate_carriage(1) + self._home_axis(homing_state, axis, dc2) + self._activate_carriage(altc) + else: + self._home_axis(homing_state, axis, self.rails[axis]) + def motor_off(self, print_time): + self.limits = [(1.0, -1.0)] * 3 + for rail in self.rails: + rail.motor_enable(print_time, 0) + for rail in self.dual_carriage_rails: + rail.motor_enable(print_time, 0) + self.need_motor_enable = True + def _check_motor_enable(self, print_time, move): + need_motor_enable = False + for i, rail in enumerate(self.rails): + if move.axes_d[i]: + rail.motor_enable(print_time, 1) + 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) + self.move_fill( + self.cmove, print_time, + move.accel_t, move.cruise_t, move.decel_t, + move.start_pos[0], move.start_pos[1], move.start_pos[2], + move.axes_d[0], move.axes_d[1], move.axes_d[2], + move.start_v, move.cruise_v, move.accel) + for i, rail in enumerate(self.rails): + if move.axes_d[i]: + rail.step_itersolve(self.cmove) + # Dual carriage support + def _activate_carriage(self, carriage): + toolhead = self.printer.lookup_object('toolhead') + toolhead.get_last_move_time() + dc_rail = self.dual_carriage_rails[carriage] + dc_axis = self.dual_carriage_axis + self.rails[dc_axis] = dc_rail + extruder_pos = toolhead.get_position()[3] + toolhead.set_position(self.calc_position() + [extruder_pos]) + if self.limits[dc_axis][0] <= self.limits[dc_axis][1]: + self.limits[dc_axis] = dc_rail.get_range() + self.need_motor_enable = True + cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active" + def cmd_SET_DUAL_CARRIAGE(self, params): + gcode = self.printer.lookup_object('gcode') + carriage = gcode.get_int('CARRIAGE', params, minval=0, maxval=1) + self._activate_carriage(carriage) + gcode.reset_last_position() + +def load_kinematics(toolhead, config): + return CartKinematics(toolhead, config) |