diff options
Diffstat (limited to 'klippy/kinematics/winch.py')
| -rw-r--r-- | klippy/kinematics/winch.py | 31 |
1 files changed, 20 insertions, 11 deletions
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 47bc6855..290a7f27 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -5,54 +5,63 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import stepper, mathutil + class WinchKinematics: def __init__(self, toolhead, config): # Setup steppers at each anchor self.steppers = [] self.anchors = [] for i in range(26): - name = 'stepper_' + chr(ord('a') + i) + name = "stepper_" + chr(ord("a") + i) if i >= 3 and not config.has_section(name): break stepper_config = config.getsection(name) s = stepper.PrinterStepper(stepper_config) self.steppers.append(s) - a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz']) + a = tuple([stepper_config.getfloat("anchor_" + n) for n in "xyz"]) self.anchors.append(a) - s.setup_itersolve('winch_stepper_alloc', *a) + s.setup_itersolve("winch_stepper_alloc", *a) s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) # Setup boundary checks acoords = list(zip(*self.anchors)) - self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.) - self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.) - self.set_position([0., 0., 0.], "") + self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.0) + self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.0) + self.set_position([0.0, 0.0, 0.0], "") + def get_steppers(self): return list(self.steppers) + def calc_position(self, stepper_positions): # Use only first three steppers to calculate cartesian position pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]] - return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in pos]) + return mathutil.trilateration(self.anchors[:3], [sp * sp for sp in pos]) + def set_position(self, newpos, homing_axes): for s in self.steppers: s.set_position(newpos) + def clear_homing_state(self, clear_axes): # XXX - homing not implemented pass + def home(self, homing_state): # XXX - homing not implemented homing_state.set_axes([0, 1, 2]) - homing_state.set_homed_position([0., 0., 0.]) + homing_state.set_homed_position([0.0, 0.0, 0.0]) + def check_move(self, move): # XXX - boundary checks and speed limits not implemented pass + def get_status(self, eventtime): # XXX - homed_checks and rail limits not implemented return { - 'homed_axes': 'xyz', - 'axis_minimum': self.axes_min, - 'axis_maximum': self.axes_max, + "homed_axes": "xyz", + "axis_minimum": self.axes_min, + "axis_maximum": self.axes_max, } + def load_kinematics(toolhead, config): return WinchKinematics(toolhead, config) |