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kinematics: Calculate axis_minimum/axis_maximum in advance

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Calculate the get_status() axis_minimum and axis_maximum fields in
advance so that they don't need to be calculated on each get_status()
call.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-01-08 11:52:28 -05:00
parent f79187d726
commit c8434ec54b
9 changed files with 71 additions and 77 deletions
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34
klippy/kinematics/delta.py
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@ -1,10 +1,10 @@
# Code for handling the kinematics of linear delta robots
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, mathutil, homing
import stepper, mathutil
# Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
SLOW_RATIO = 3.
@ -68,25 +68,28 @@ class DeltaKinematics:
self.limit_z = min([ep - arm
for ep, arm in zip(self.abs_endstops, arm_lengths)])
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z))
"Delta max build height %.2fmm (radius tapered above %.2fmm)"
% (self.max_z, self.limit_z))
# Find the point where an XY move could result in excessive
# tower movement
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):
def ratio_to_xy(ratio):
return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.)
- half_min_step_dist**2)
+ half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
+ half_min_step_dist - radius)
self.slow_xy2 = ratio_to_xy(SLOW_RATIO)**2
self.very_slow_xy2 = ratio_to_xy(2. * SLOW_RATIO)**2
self.max_xy2 = min(print_radius, min_arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
ratio_to_xy(4. * SLOW_RATIO))**2
max_xy = math.sqrt(self.max_xy2)
logging.info("Delta max build radius %.2fmm (moves slowed past %.2fmm"
" and %.2fmm)" % (
math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
" and %.2fmm)"
% (max_xy, math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
@ -146,13 +149,10 @@ class DeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def get_status(self, eventtime):
max_xy = math.sqrt(self.max_xy2)
axes_min = [-max_xy, -max_xy, self.min_z, 0.]
axes_max = [max_xy, max_xy, self.max_z, 0.]
return {
'homed_axes': '' if self.need_home else 'xyz',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def get_calibration(self):
endstops = [rail.get_homing_info().position_endstop