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delta: Move "stable position" logic to delta_calibrate.py

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Move the "stable position" logic from the delta.py kinematics code to
the delta_calibrate.py calibration code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-09-03 13:34:27 -04:00 • committed by KevinOConnor
parent d48e8ea162
commit ed0882dc10
2 changed files with 82 additions and 44 deletions
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42
klippy/kinematics/delta.py
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@ -12,8 +12,7 @@ SLOW_RATIO = 3.
class DeltaKinematics:
def __init__(self, toolhead, config):
# Setup tower rails
stepper_configs = [config.getsection('stepper_' + n)
for n in ['a', 'b', 'c']]
stepper_configs = [config.getsection('stepper_' + a) for a in 'abc']
rail_a = stepper.PrinterRail(
stepper_configs[0], need_position_minmax = False)
a_endstop = rail_a.get_homing_info().position_endstop
@ -31,9 +30,9 @@ class DeltaKinematics:
sconfig.getfloat('arm_length', arm_length_a, above=radius)
for sconfig in stepper_configs]
self.arm2 = [arm**2 for arm in arm_lengths]
self.endstops = [(rail.get_homing_info().position_endstop
+ math.sqrt(arm2 - radius**2))
for rail, arm2 in zip(self.rails, self.arm2)]
self.abs_endstops = [(rail.get_homing_info().position_endstop
+ math.sqrt(arm2 - radius**2))
for rail, arm2 in zip(self.rails, self.arm2)]
# Setup boundary checks
self.need_motor_enable = self.need_home = True
self.limit_xy2 = -1.
@ -41,7 +40,7 @@ class DeltaKinematics:
for rail in self.rails])
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm
for ep, arm in zip(self.endstops, arm_lengths)])
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))
@ -115,7 +114,7 @@ class DeltaKinematics:
homing_speed/2.0, second_home=True)
# Set final homed position
spos = [ep + rail.get_homed_offset()
for ep, rail in zip(self.endstops, self.rails)]
for ep, rail in zip(self.abs_endstops, self.rails)]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
def motor_off(self, print_time):
self.limit_xy2 = -1.
@ -160,38 +159,15 @@ class DeltaKinematics:
self._check_motor_enable(print_time)
for rail in self.rails:
rail.step_itersolve(move.cmove)
# Helper functions for DELTA_CALIBRATE script
def get_stable_position(self):
steppers = [rail.get_steppers()[0] for rail in self.rails]
return [int((ep - s.get_commanded_position()) / s.get_step_dist() + .5)
for ep, s in zip(self.endstops, steppers)]
# Helper function for DELTA_CALIBRATE script
def get_calibrate_params(self):
out = { 'radius': self.radius }
for i, axis in enumerate('abc'):
rail = self.rails[i]
out['endstop_'+axis] = rail.get_homing_info().position_endstop
out['stepdist_'+axis] = rail.get_steppers()[0].get_step_dist()
out['angle_'+axis] = self.angles[i]
out['arm_'+axis] = self.arm_lengths[i]
return out
def get_positions_from_stable(self, stable_positions, params):
angle_names = ['angle_a', 'angle_b', 'angle_c']
angles = [math.radians(params[an]) for an in angle_names]
radius = params['radius']
radius2 = radius**2
towers = [(math.cos(a) * radius, math.sin(a) * radius) for a in angles]
arm2 = [params[an]**2 for an in ['arm_a', 'arm_b', 'arm_c']]
stepdist_names = ['stepdist_a', 'stepdist_b', 'stepdist_c']
stepdists = [params[sn] for sn in stepdist_names]
endstop_names = ['endstop_a', 'endstop_b', 'endstop_c']
endstops = [params[en] + math.sqrt(a2 - radius2)
for en, a2 in zip(endstop_names, arm2)]
out = []
for spos in stable_positions:
sphere_coords = [
(t[0], t[1], es - sp * sd)
for t, es, sd, sp in zip(towers, endstops, stepdists, spos) ]
out.append(mathutil.trilateration(sphere_coords, arm2))
out['endstop_'+axis] = rail.get_homing_info().position_endstop
out['stepdist_'+axis] = rail.get_steppers()[0].get_step_dist()
return out
def load_kinematics(toolhead, config):