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# Code for handling the kinematics of hybrid-corexy robots
#
# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper
from . import idex_modes
# The hybrid-corexy kinematic is also known as Markforged kinematics
class HybridCoreXYKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
# itersolve parameters
self.rails = [
stepper.LookupRail(config.getsection("stepper_x")),
stepper.LookupMultiRail(config.getsection("stepper_y")),
stepper.LookupMultiRail(config.getsection("stepper_z")),
]
self.rails[1].get_endstops()[0][0].add_stepper(self.rails[0].get_steppers()[0])
self.rails[0].setup_itersolve("corexy_stepper_alloc", b"-")
self.rails[1].setup_itersolve("cartesian_stepper_alloc", b"y")
self.rails[2].setup_itersolve("cartesian_stepper_alloc", b"z")
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")
# dummy for cartesian config users
dc_config.getchoice("axis", ["x"], default="x")
# setup second dual carriage rail
self.rails.append(stepper.LookupRail(dc_config))
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0]
)
self.rails[3].setup_itersolve("corexy_stepper_alloc", b"+")
self.dc_module = idex_modes.DualCarriages(
self.printer,
[self.rails[0]],
[self.rails[3]],
axes=[0],
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):
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
if (
self.dc_module is not None
and "PRIMARY" == self.dc_module.get_status()["carriage_1"]
):
return [pos[3] - pos[1], pos[1], pos[2]]
else:
return [pos[0] + pos[1], pos[1], pos[2]]
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 == 0:
rail = self.dc_module.get_primary_rail(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):
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):
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == 0:
self.dc_module.home(homing_state, 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 HybridCoreXYKinematics(toolhead, config)
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