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# Code for handling the kinematics of corexy robots
#
# Copyright (C) 2017-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
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"
]
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")
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
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)
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():
rail = self.rails[axis]
# 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 _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 CoreXYKinematics(toolhead, config)
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