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stepper: Replace PrinterHomingStepper with PrinterRail

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Update the code to use the term "rail" when dealing with a motor
controlled "axis".  A rail has a series of steppers and endstops that
control that motor controlled "axis".

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-22 11:44:25 -04:00
parent 93d0526a77
commit 0791c69499
7 changed files with 200 additions and 194 deletions
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66
klippy/delta.py
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@ -1,6 +1,6 @@
# Code for handling the kinematics of linear delta robots
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
@ -15,16 +15,16 @@ class DeltaKinematics:
def __init__(self, toolhead, config):
stepper_configs = [config.getsection('stepper_' + n)
for n in ['a', 'b', 'c']]
stepper_a = stepper.PrinterHomingStepper(
rail_a = stepper.PrinterRail(
stepper_configs[0], need_position_minmax = False)
a_endstop = stepper_a.get_homing_info().position_endstop
stepper_b = stepper.PrinterHomingStepper(
a_endstop = rail_a.get_homing_info().position_endstop
rail_b = stepper.PrinterRail(
stepper_configs[1], need_position_minmax = False,
default_position_endstop=a_endstop)
stepper_c = stepper.PrinterHomingStepper(
rail_c = stepper.PrinterRail(
stepper_configs[2], need_position_minmax = False,
default_position_endstop=a_endstop)
self.steppers = [stepper_a, stepper_b, stepper_c]
self.rails = [rail_a, rail_b, rail_c]
self.need_motor_enable = self.need_home = True
self.radius = radius = config.getfloat('delta_radius', above=0.)
arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
@ -32,12 +32,12 @@ class DeltaKinematics:
sconfig.getfloat('arm_length', arm_length_a, above=radius)
for sconfig in stepper_configs]
self.arm2 = [arm**2 for arm in arm_lengths]
self.endstops = [(s.get_homing_info().position_endstop
self.endstops = [(rail.get_homing_info().position_endstop
+ math.sqrt(arm2 - radius**2))
for s, arm2 in zip(self.steppers, self.arm2)]
for rail, arm2 in zip(self.rails, self.arm2)]
self.limit_xy2 = -1.
self.max_z = min([s.get_homing_info().position_endstop
for s in self.steppers])
self.max_z = min([rail.get_homing_info().position_endstop
for rail in self.rails])
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm
for ep, arm in zip(self.endstops, arm_lengths)])
@ -50,8 +50,8 @@ class DeltaKinematics:
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, self.max_accel)
for rail in self.rails:
rail.set_max_jerk(max_halt_velocity, self.max_accel)
# Determine tower locations in cartesian space
self.angles = [sconfig.getfloat('angle', angle)
for sconfig, angle in zip(stepper_configs,
@ -63,13 +63,14 @@ class DeltaKinematics:
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
for s, a, t in zip(self.steppers, self.arm2, self.towers):
for r, a, t in zip(self.rails, self.arm2, self.towers):
sk = ffi_main.gc(ffi_lib.delta_stepper_alloc(a, t[0], t[1]),
ffi_lib.free)
s.setup_itersolve(sk)
r.setup_itersolve(sk)
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([s.get_step_dist() for s in self.steppers]) * .5
half_min_step_dist = min([r.get_steppers()[0].get_step_dist()
for r in self.rails]) * .5
min_arm_length = min(arm_lengths)
def ratio_to_dist(ratio):
return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.)
@ -84,8 +85,8 @@ class DeltaKinematics:
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.], ())
def get_steppers(self, flags=""):
return list(self.steppers)
def get_rails(self, flags=""):
return list(self.rails)
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2
- (self.towers[i][1] - coord[1])**2) + coord[2]
@ -93,21 +94,21 @@ class DeltaKinematics:
def _actuator_to_cartesian(self, pos):
return actuator_to_cartesian(self.towers, self.arm2, pos)
def get_position(self):
spos = [s.get_commanded_position() for s in self.steppers]
spos = [rail.get_commanded_position() for rail in self.rails]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
pos = self._cartesian_to_actuator(newpos)
for i in StepList:
self.steppers[i].set_position(pos[i])
self.rails[i].set_position(pos[i])
self.limit_xy2 = -1.
if tuple(homing_axes) == StepList:
self.need_home = False
def home(self, homing_state):
# All axes are homed simultaneously
homing_state.set_axes([0, 1, 2])
endstops = [es for s in self.steppers for es in s.get_endstops()]
endstops = [es for rail in self.rails for es in rail.get_endstops()]
# Initial homing - assume homing speed same for all steppers
hi = self.steppers[0].get_homing_info()
hi = self.rails[0].get_homing_info()
homing_speed = min(hi.speed, self.max_z_velocity)
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
@ -121,17 +122,17 @@ class DeltaKinematics:
homing_state.home(coord, homepos, endstops,
homing_speed/2.0, second_home=True)
# Set final homed position
spos = [ep + s.get_homed_offset()
for ep, s in zip(self.endstops, self.steppers)]
spos = [ep + rail.get_homed_offset()
for ep, rail in zip(self.endstops, self.rails)]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
def motor_off(self, print_time):
self.limit_xy2 = -1.
for stepper in self.steppers:
stepper.motor_enable(print_time, 0)
for rail in self.rails:
rail.motor_enable(print_time, 0)
self.need_motor_enable = self.need_home = True
def _check_motor_enable(self, print_time):
for i in StepList:
self.steppers[i].motor_enable(print_time, 1)
self.rails[i].motor_enable(print_time, 1)
self.need_motor_enable = False
def check_move(self, move):
end_pos = move.end_pos
@ -171,18 +172,19 @@ class DeltaKinematics:
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_d[0], move.axes_d[1], move.axes_d[2],
move.start_v, move.cruise_v, move.accel)
for stepper in self.steppers:
stepper.step_itersolve(self.cmove)
for rail in self.rails:
rail.step_itersolve(self.cmove)
# Helper functions for DELTA_CALIBRATE script
def get_stable_position(self):
steppers = [rail.get_steppers()[0] for rail in self.rails]
return [int((ep - s.get_commanded_position()) / s.get_step_dist() + .5)
* s.get_step_dist()
for ep, s in zip(self.endstops, self.steppers)]
for ep, s in zip(self.endstops, steppers)]
def get_calibrate_params(self):
return {
'endstop_a': self.steppers[0].position_endstop,
'endstop_b': self.steppers[1].position_endstop,
'endstop_c': self.steppers[2].position_endstop,
'endstop_a': self.rails[0].position_endstop,
'endstop_b': self.rails[1].position_endstop,
'endstop_c': self.rails[2].position_endstop,
'angle_a': self.angles[0], 'angle_b': self.angles[1],
'angle_c': self.angles[2], 'radius': self.radius,
'arm_a': self.arm_lengths[0], 'arm_b': self.arm_lengths[1],