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# Code for handling the kinematics of cartesian robots
#
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper
from . import idex_modes
class CartKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
# Setup axis rails
self.dual_carriage_axis = None
self.dual_carriage_rails = []
self.rails = [
stepper.LookupMultiRail(config.getsection("stepper_" + n)) for n in "xyz"
]
for rail, axis in zip(self.rails, "xyz"):
rail.setup_itersolve("cartesian_stepper_alloc", axis.encode())
ranges = [r.get_range() for r in self.rails]
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)
self.dc_module = None
if config.has_section("dual_carriage"):
dc_config = config.getsection("dual_carriage")
dc_axis = dc_config.getchoice("axis", ["x", "y"])
self.dual_carriage_axis = {"x": 0, "y": 1}[dc_axis]
# setup second dual carriage rail
self.rails.append(stepper.LookupMultiRail(dc_config))
self.rails[3].setup_itersolve("cartesian_stepper_alloc", dc_axis.encode())
self.dc_module = idex_modes.DualCarriages(
self.printer,
[self.rails[self.dual_carriage_axis]],
[self.rails[3]],
axes=[self.dual_carriage_axis],
safe_dist=dc_config.getfloat("safe_distance", None, minval=0.0),
)
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=0.0, maxval=max_velocity
)
self.max_z_accel = config.getfloat(
"max_z_accel", max_accel, above=0.0, maxval=max_accel
)
self.limits = [(1.0, -1.0)] * 3
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_position(self, stepper_positions):
rails = self.rails
if self.dc_module:
primary_rail = self.dc_module.get_primary_rail(self.dual_carriage_axis)
rails = (
rails[: self.dual_carriage_axis]
+ [primary_rail]
+ rails[self.dual_carriage_axis + 1 :]
)
return [stepper_positions[rail.get_name()] for rail in rails]
def update_limits(self, i, range):
l, h = self.limits[i]
# Only update limits if this axis was already homed,
# otherwise leave in un-homed state.
if l <= h:
self.limits[i] = range
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
for axis_name in homing_axes:
axis = "xyz".index(axis_name)
if self.dc_module and axis == self.dual_carriage_axis:
rail = self.dc_module.get_primary_rail(self.dual_carriage_axis)
else:
rail = self.rails[axis]
self.limits[axis] = 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_axis(self, homing_state, axis, rail):
# Determine movement
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
homepos = [None, None, None, None]
homepos[axis] = hi.position_endstop
forcepos = list(homepos)
if hi.positive_dir:
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == self.dual_carriage_axis:
self.dc_module.home(homing_state, self.dual_carriage_axis)
else:
self.home_axis(homing_state, axis, self.rails[axis])
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 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]
):
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 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,
}
def load_kinematics(toolhead, config):
return CartKinematics(toolhead, config)
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