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Diffstat (limited to 'klippy/kinematics/corexy.py')
| -rw-r--r-- | klippy/kinematics/corexy.py | 146 |
1 files changed, 146 insertions, 0 deletions
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py new file mode 100644 index 00000000..931793e7 --- /dev/null +++ b/klippy/kinematics/corexy.py @@ -0,0 +1,146 @@ +# Code for handling the kinematics of corexy robots +# +# 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, chelper + +class CoreXYKinematics: + def __init__(self, toolhead, config): + self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')), + stepper.PrinterRail(config.getsection('stepper_y')), + stepper.LookupMultiRail(config.getsection('stepper_z')) ] + self.rails[0].add_to_endstop(self.rails[1].get_endstops()[0][0]) + self.rails[1].add_to_endstop(self.rails[0].get_endstops()[0][0]) + 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 + self.rails[0].setup_itersolve(ffi_main.gc( + ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free)) + self.rails[1].setup_itersolve(ffi_main.gc( + ffi_lib.corexy_stepper_alloc('-'), ffi_lib.free)) + self.rails[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.) + self.rails[0].set_max_jerk(max_xy_halt_velocity, max_accel) + self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel) + self.rails[2].set_max_jerk( + min(max_halt_velocity, self.max_z_velocity), self.max_z_accel) + def get_rails(self, flags=""): + if flags == "Z": + return [self.rails[2]] + return list(self.rails) + def calc_position(self): + pos = [rail.get_commanded_position() 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 i in homing_axes: + self.limits[i] = rail.get_range() + def home(self, homing_state): + # Each axis is homed independently and in order + for axis in homing_state.get_axes(): + rail = self.rails[axis] + # 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) + if axis == 2: + # Support endstop phase detection on Z axis + coord[axis] = hi.position_endstop + rail.get_homed_offset() + homing_state.set_homed_position(coord) + def motor_off(self, print_time): + self.limits = [(1.0, -1.0)] * 3 + for rail in self.rails: + rail.motor_enable(print_time, 0) + self.need_motor_enable = True + def _check_motor_enable(self, print_time, move): + if move.axes_d[0] or move.axes_d[1]: + self.rails[0].motor_enable(print_time, 1) + self.rails[1].motor_enable(print_time, 1) + if move.axes_d[2]: + self.rails[2].motor_enable(print_time, 1) + need_motor_enable = False + for rail in self.rails: + 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) + 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) + rail_x, rail_y, rail_z = self.rails + if axes_d[0] or axes_d[1]: + rail_x.step_itersolve(cmove) + rail_y.step_itersolve(cmove) + if axes_d[2]: + rail_z.step_itersolve(cmove) + +def load_kinematics(toolhead, config): + return CoreXYKinematics(toolhead, config) |