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# Code for handling the kinematics of cable winch robots
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
#
# 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)
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'])
self.anchors.append(a)
s.setup_itersolve('winch_stepper_alloc', *a)
# Setup stepper max halt velocity
max_velocity, max_accel = toolhead.get_max_velocity()
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, max_accel)
# Setup boundary checks
self.need_motor_enable = True
self.set_position([0., 0., 0.], ())
def get_steppers(self, flags=""):
return list(self.steppers)
def calc_position(self):
# Use only first three steppers to calculate cartesian position
spos = [s.get_commanded_position() for s in self.steppers[:3]]
return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
def set_position(self, newpos, homing_axes):
for s in self.steppers:
s.set_position(newpos)
def home(self, homing_state):
# XXX - homing not implemented
homing_state.set_axes([0, 1, 2])
homing_state.set_homed_position([0., 0., 0.])
def motor_off(self, print_time):
for s in self.steppers:
s.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, print_time):
for s in self.steppers:
s.motor_enable(print_time, 1)
self.need_motor_enable = False
def check_move(self, move):
# XXX - boundary checks and speed limits not implemented
pass
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(print_time)
for s in self.steppers:
s.step_itersolve(move.cmove)
def load_kinematics(toolhead, config):
return WinchKinematics(toolhead, config)
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