mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-07-11 08:47:53 -06:00
toolhead: Move kinematic modules to new kinematics/ directory
Move extruder.py, cartesian.py, corexy.py, and delta.py to a new kinematics/ sub-directory. This is intended to make adding new kinematics a little easier. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
7d897d84d7
commit
8faab46ed2
9 changed files with 37 additions and 17 deletions
|
@ -1,170 +0,0 @@
|
|||
# Code for handling the kinematics of cartesian robots
|
||||
#
|
||||
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import logging
|
||||
import stepper, homing, chelper
|
||||
|
||||
class CartKinematics:
|
||||
def __init__(self, toolhead, config):
|
||||
self.printer = config.get_printer()
|
||||
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
|
||||
for n in ['x', 'y', 'z']]
|
||||
max_velocity, max_accel = toolhead.get_max_velocity()
|
||||
self.max_z_velocity = config.getfloat(
|
||||
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
|
||||
self.max_z_accel = config.getfloat(
|
||||
'max_z_accel', max_accel, above=0., maxval=max_accel)
|
||||
self.need_motor_enable = True
|
||||
self.limits = [(1.0, -1.0)] * 3
|
||||
# Setup iterative solver
|
||||
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 axis, rail in zip('xyz', self.rails):
|
||||
rail.setup_cartesian_itersolve(axis)
|
||||
# Setup stepper max halt velocity
|
||||
max_halt_velocity = toolhead.get_max_axis_halt()
|
||||
self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
|
||||
self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
|
||||
self.rails[2].set_max_jerk(
|
||||
min(max_halt_velocity, self.max_z_velocity), max_accel)
|
||||
# Check for dual carriage support
|
||||
self.dual_carriage_axis = None
|
||||
self.dual_carriage_rails = []
|
||||
if config.has_section('dual_carriage'):
|
||||
dc_config = config.getsection('dual_carriage')
|
||||
dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
|
||||
self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
|
||||
dc_rail = stepper.LookupMultiRail(dc_config)
|
||||
dc_rail.setup_cartesian_itersolve(dc_axis)
|
||||
dc_rail.set_max_jerk(max_halt_velocity, max_accel)
|
||||
self.dual_carriage_rails = [
|
||||
self.rails[self.dual_carriage_axis], dc_rail]
|
||||
self.printer.lookup_object('gcode').register_command(
|
||||
'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
|
||||
desc=self.cmd_SET_DUAL_CARRIAGE_help)
|
||||
def get_rails(self, flags=""):
|
||||
if flags == "Z":
|
||||
return [self.rails[2]]
|
||||
return list(self.rails)
|
||||
def calc_position(self):
|
||||
return [rail.get_commanded_position() for rail in self.rails]
|
||||
def set_position(self, newpos, homing_axes):
|
||||
for i, rail in enumerate(self.rails):
|
||||
rail.set_position(newpos)
|
||||
if i in homing_axes:
|
||||
self.limits[i] = rail.get_range()
|
||||
def _home_axis(self, homing_state, axis, rail):
|
||||
# Determine moves
|
||||
position_min, position_max = rail.get_range()
|
||||
hi = rail.get_homing_info()
|
||||
if hi.positive_dir:
|
||||
pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min)
|
||||
rpos = hi.position_endstop - hi.retract_dist
|
||||
r2pos = rpos - hi.retract_dist
|
||||
else:
|
||||
pos = hi.position_endstop + 1.5*(position_max - hi.position_endstop)
|
||||
rpos = hi.position_endstop + hi.retract_dist
|
||||
r2pos = rpos + hi.retract_dist
|
||||
# Initial homing
|
||||
homing_speed = hi.speed
|
||||
if axis == 2:
|
||||
homing_speed = min(homing_speed, self.max_z_velocity)
|
||||
homepos = [None, None, None, None]
|
||||
homepos[axis] = hi.position_endstop
|
||||
coord = [None, None, None, None]
|
||||
coord[axis] = pos
|
||||
homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
|
||||
# Retract
|
||||
coord[axis] = rpos
|
||||
homing_state.retract(coord, homing_speed)
|
||||
# Home again
|
||||
coord[axis] = r2pos
|
||||
homing_state.home(coord, homepos, rail.get_endstops(),
|
||||
homing_speed/2.0, second_home=True)
|
||||
# Set final homed position
|
||||
coord[axis] = hi.position_endstop + rail.get_homed_offset()
|
||||
homing_state.set_homed_position(coord)
|
||||
def home(self, homing_state):
|
||||
# Each axis is homed independently and in order
|
||||
for axis in homing_state.get_axes():
|
||||
if axis == self.dual_carriage_axis:
|
||||
dc1, dc2 = self.dual_carriage_rails
|
||||
altc = self.rails[axis] == dc2
|
||||
self._activate_carriage(0)
|
||||
self._home_axis(homing_state, axis, dc1)
|
||||
self._activate_carriage(1)
|
||||
self._home_axis(homing_state, axis, dc2)
|
||||
self._activate_carriage(altc)
|
||||
else:
|
||||
self._home_axis(homing_state, axis, self.rails[axis])
|
||||
def motor_off(self, print_time):
|
||||
self.limits = [(1.0, -1.0)] * 3
|
||||
for rail in self.rails:
|
||||
rail.motor_enable(print_time, 0)
|
||||
for rail in self.dual_carriage_rails:
|
||||
rail.motor_enable(print_time, 0)
|
||||
self.need_motor_enable = True
|
||||
def _check_motor_enable(self, print_time, move):
|
||||
need_motor_enable = False
|
||||
for i, rail in enumerate(self.rails):
|
||||
if move.axes_d[i]:
|
||||
rail.motor_enable(print_time, 1)
|
||||
need_motor_enable |= not rail.is_motor_enabled()
|
||||
self.need_motor_enable = need_motor_enable
|
||||
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 homing.EndstopMoveError(
|
||||
end_pos, "Must home axis first")
|
||||
raise homing.EndstopMoveError(end_pos)
|
||||
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 move(self, print_time, move):
|
||||
if self.need_motor_enable:
|
||||
self._check_motor_enable(print_time, move)
|
||||
self.move_fill(
|
||||
self.cmove, print_time,
|
||||
move.accel_t, move.cruise_t, move.decel_t,
|
||||
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 i, rail in enumerate(self.rails):
|
||||
if move.axes_d[i]:
|
||||
rail.step_itersolve(self.cmove)
|
||||
# Dual carriage support
|
||||
def _activate_carriage(self, carriage):
|
||||
toolhead = self.printer.lookup_object('toolhead')
|
||||
toolhead.get_last_move_time()
|
||||
dc_rail = self.dual_carriage_rails[carriage]
|
||||
dc_axis = self.dual_carriage_axis
|
||||
self.rails[dc_axis] = dc_rail
|
||||
extruder_pos = toolhead.get_position()[3]
|
||||
toolhead.set_position(self.calc_position() + [extruder_pos])
|
||||
if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
|
||||
self.limits[dc_axis] = dc_rail.get_range()
|
||||
self.need_motor_enable = True
|
||||
cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
|
||||
def cmd_SET_DUAL_CARRIAGE(self, params):
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
carriage = gcode.get_int('CARRIAGE', params, minval=0, maxval=1)
|
||||
self._activate_carriage(carriage)
|
||||
gcode.reset_last_position()
|
Loading…
Add table
Add a link
Reference in a new issue