1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
|
# Code for handling the kinematics of corexy robots
#
# Copyright (C) 2017 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
StepList = (0, 1, 2)
class CoreXYKinematics:
def __init__(self, toolhead, printer, config):
self.steppers = [
stepper.PrinterHomingStepper(
printer, config.getsection('stepper_x')),
stepper.PrinterHomingStepper(
printer, config.getsection('stepper_y')),
stepper.LookupMultiHomingStepper(
printer, config.getsection('stepper_z'))]
self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
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 stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def get_steppers(self, flags=""):
if flags == "Z":
return [self.steppers[2]]
return list(self.steppers)
def get_position(self):
pos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
def set_position(self, newpos, homing_axes):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:
s = self.steppers[i]
s.set_position(pos[i])
if i in homing_axes:
self.limits[i] = (s.position_min, s.position_max)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
s = self.steppers[axis]
# Determine moves
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(
s.position_endstop - s.position_min)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
else:
pos = s.position_endstop + 1.5*(
s.position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
# Initial homing
homing_speed = s.homing_speed
if axis == 2:
homing_speed = min(homing_speed, self.max_z_velocity)
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(coord, homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(coord, homepos, s.get_endstops(),
homing_speed/2.0, second_home=True)
if axis == 2:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.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.steppers[0].motor_enable(print_time, 1)
self.steppers[1].motor_enable(print_time, 1)
if move.axes_d[2]:
self.steppers[2].motor_enable(print_time, 1)
need_motor_enable = False
for i in StepList:
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def _check_endstops(self, move):
end_pos = move.end_pos
for i in StepList:
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)
sxp = move.start_pos[0]
syp = move.start_pos[1]
move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2])
exp = move.end_pos[0]
eyp = move.end_pos[1]
axes_d = ((exp + eyp) - move_start_pos[0],
(exp - eyp) - move_start_pos[1], move.axes_d[2])
for i in StepList:
axis_d = axes_d[i]
if not axis_d:
continue
step_const = self.steppers[i].step_const
move_time = print_time
start_pos = move_start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
cruise_v = move.cruise_v * axis_r
# Acceleration steps
if move.accel_r:
accel_d = move.accel_r * axis_d
step_const(move_time, start_pos, accel_d,
move.start_v * axis_r, accel)
start_pos += accel_d
move_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
step_const(move_time, start_pos, decel_d, cruise_v, -accel)
|
