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toolhead: Eliminate set_max_jerk() from kinematic classes

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Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-03 15:17:02 -04:00
parent 0d13834293
commit 7a81bfc4a4
6 changed files with 53 additions and 45 deletions
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20
klippy/delta.py
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@ -12,13 +12,11 @@ StepList = (0, 1, 2)
SLOW_RATIO = 3.
class DeltaKinematics:
def __init__(self, printer, config):
self.config = config
def __init__(self, toolhead, printer, config):
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['a', 'b', 'c']]
self.need_motor_enable = self.need_home = True
self.max_velocity = self.max_z_velocity = self.max_accel = 0.
radius = config.getfloat('delta_radius', above=0.)
arm_length = config.getfloat('delta_arm_length', above=radius)
self.arm_length2 = arm_length**2
@ -29,6 +27,14 @@ class DeltaKinematics:
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z))
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_xy_halt_velocity = toolhead.get_max_axis_halt(self.max_accel)
for s in self.steppers:
s.set_max_jerk(max_xy_halt_velocity, self.max_accel)
# Determine tower locations in cartesian space
angles = [config.getsection('stepper_a').getfloat('angle', 210.),
config.getsection('stepper_b').getfloat('angle', 330.),
@ -52,14 +58,6 @@ 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 set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
self.max_velocity = max_velocity
max_z_velocity = self.config.getfloat(
'max_z_velocity', max_velocity, above=0.)
self.max_z_velocity = min(max_velocity, max_z_velocity)
self.max_accel = max_accel
for stepper in self.steppers:
stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2