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# Code for handling the kinematics of cable winch robots
#
# Copyright (C) 2018-2021 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)
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
# Setup boundary checks
acoords = list(zip(*self.anchors))
self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.0)
self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.0)
self.set_position([0.0, 0.0, 0.0], "")
def get_steppers(self):
return list(self.steppers)
def calc_position(self, stepper_positions):
# Use only first three steppers to calculate cartesian position
pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]]
return mathutil.trilateration(self.anchors[:3], [sp * sp for sp in pos])
def set_position(self, newpos, homing_axes):
for s in self.steppers:
s.set_position(newpos)
def clear_homing_state(self, clear_axes):
# XXX - homing not implemented
pass
def home(self, homing_state):
# XXX - homing not implemented
homing_state.set_axes([0, 1, 2])
homing_state.set_homed_position([0.0, 0.0, 0.0])
def check_move(self, move):
# XXX - boundary checks and speed limits not implemented
pass
def get_status(self, eventtime):
# XXX - homed_checks and rail limits not implemented
return {
"homed_axes": "xyz",
"axis_minimum": self.axes_min,
"axis_maximum": self.axes_max,
}
def load_kinematics(toolhead, config):
return WinchKinematics(toolhead, config)
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