diff options
Diffstat (limited to 'klippy/kinematics/corexy.py')
| -rw-r--r-- | klippy/kinematics/corexy.py | 54 |
1 files changed, 35 insertions, 19 deletions
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index d68f8854..a571b2f6 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -6,45 +6,54 @@ import logging, math import stepper + class CoreXYKinematics: def __init__(self, toolhead, config): # Setup axis rails - self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n)) - for n in 'xyz'] + self.rails = [ + stepper.LookupMultiRail(config.getsection("stepper_" + n)) for n in "xyz" + ] for s in self.rails[1].get_steppers(): self.rails[0].get_endstops()[0][0].add_stepper(s) for s in self.rails[0].get_steppers(): self.rails[1].get_endstops()[0][0].add_stepper(s) - self.rails[0].setup_itersolve('corexy_stepper_alloc', b'+') - self.rails[1].setup_itersolve('corexy_stepper_alloc', b'-') - self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z') + self.rails[0].setup_itersolve("corexy_stepper_alloc", b"+") + self.rails[1].setup_itersolve("corexy_stepper_alloc", b"-") + self.rails[2].setup_itersolve("cartesian_stepper_alloc", b"z") 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) + "max_z_velocity", max_velocity, above=0.0, maxval=max_velocity + ) self.max_z_accel = config.getfloat( - 'max_z_accel', max_accel, above=0., maxval=max_accel) + "max_z_accel", max_accel, above=0.0, maxval=max_accel + ) self.limits = [(1.0, -1.0)] * 3 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) + def get_steppers(self): return [s for rail in self.rails for s in rail.get_steppers()] + def calc_position(self, stepper_positions): pos = [stepper_positions[rail.get_name()] 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 "xyz"[i] in homing_axes: self.limits[i] = 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(self, homing_state): # Each axis is homed independently and in order for axis in homing_state.get_axes(): @@ -61,20 +70,26 @@ class CoreXYKinematics: forcepos[axis] += 1.5 * (position_max - hi.position_endstop) # Perform homing homing_state.home_rails([rail], forcepos, homepos) + 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 @@ -82,15 +97,16 @@ class CoreXYKinematics: # 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 CoreXYKinematics(toolhead, config) |