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polar: Add initial support for multiple bed rotations

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-20 15:44:45 -04:00
parent d9d94c858a
commit e5f74a64ed
4 changed files with 59 additions and 8 deletions
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10
klippy/chelper/kin_polar.c
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@ -1,6 +1,6 @@
// Polar kinematics stepper pulse time generation
//
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@ -24,8 +24,12 @@ polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m
{
struct coord c = move_get_coord(m, move_time);
// XXX - handle x==y==0
// XXX - handle angle wrapping
return atan2(c.y, c.x);
double angle = atan2(c.y, c.x);
if (angle - sk->commanded_pos > M_PI)
angle -= 2. * M_PI;
else if (angle - sk->commanded_pos < -M_PI)
angle += 2. * M_PI;
return angle;
}
struct stepper_kinematics * __visible

11
klippy/kinematics/polar.py
View file

@ -1,6 +1,6 @@
# Code for handling the kinematics of polar robots
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
@ -122,8 +122,15 @@ class PolarKinematics:
axes_d = move.axes_d
cmove = move.cmove
if axes_d[0] or axes_d[1]:
self.steppers[0].step_itersolve(cmove)
self.rails[0].step_itersolve(cmove)
stepper_bed = self.steppers[0]
stepper_bed.step_itersolve(cmove)
# Normalize the stepper_bed angle
angle = stepper_bed.get_commanded_position()
if angle < -math.pi:
stepper_bed.set_commanded_position(angle + 2. * math.pi)
elif angle > math.pi:
stepper_bed.set_commanded_position(angle - 2. * math.pi)
if axes_d[2]:
self.rails[1].step_itersolve(cmove)