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cartesian: Enforce endstop min and max boundaries

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Verify that each move command is within range of the configured
minimum and maximum for each axis.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-09-30 16:00:32 -04:00
parent 275b386856
commit b53da365a1
4 changed files with 32 additions and 3 deletions
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17
klippy/cartesian.py
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@ -13,6 +13,7 @@ class CartKinematics:
steppers = ['stepper_x', 'stepper_y', 'stepper_z']
self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
for n in steppers]
self.limits = [(1.0, -1.0)] * 3
self.stepper_pos = [0, 0, 0]
def build_config(self):
for stepper in self.steppers[:2]:
@ -33,6 +34,7 @@ class CartKinematics:
homing_state = homing.Homing(toolhead, axes)
for axis in axes:
s = self.steppers[axis]
self.limits[axis] = (s.position_min, s.position_max)
# Determine moves
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(
@ -58,15 +60,30 @@ class CartKinematics:
homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
return homing_state
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
def query_endstops(self, move_time):
return homing.QueryEndstops(["x", "y", "z"], self.steppers)
def check_endstops(self, move):
for i in StepList:
if (move.axes_d[i]
and (move.pos[i] < self.limits[i][0]
or move.pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise homing.EndstopError(move.pos, "Must home axis first")
raise homing.EndstopError(move.pos)
def check_move(self, move):
limits = self.limits
xpos, ypos = move.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)
axes_d = move.axes_d
move_d = move.move_d
velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])