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polar: Convert step generation to use trapq system 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-28 23:13:58 -04:00
parent 351b565728
commit 4b5cbc18a4
2 changed files with 5 additions and 21 deletions
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1
klippy/chelper/kin_polar.c
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@ -54,5 +54,6 @@ polar_stepper_alloc(char type)
sk->calc_position_cb = polar_stepper_angle_calc_position; sk->calc_position_cb = polar_stepper_angle_calc_position;
sk->post_cb = polar_stepper_angle_post_fixup; sk->post_cb = polar_stepper_angle_post_fixup;
} }
sk->active_flags = AF_X | AF_Y;
return sk; return sk;
} }

25
klippy/kinematics/polar.py
View File

@ -18,13 +18,15 @@ class PolarKinematics:
self.rails = [rail_arm, rail_z] self.rails = [rail_arm, rail_z]
self.steppers = [stepper_bed] + [ s for r in self.rails self.steppers = [stepper_bed] + [ s for r in self.rails
for s in r.get_steppers() ] for s in r.get_steppers() ]
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_move_handler(s.generate_steps)
# Setup boundary checks # Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity() max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat( self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity) 'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat( self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel) 'max_z_accel', max_accel, above=0., maxval=max_accel)
self.need_motor_enable = True
self.limit_z = [(1.0, -1.0)] self.limit_z = [(1.0, -1.0)]
self.limit_xy2 = -1. self.limit_xy2 = -1.
# Setup stepper max halt velocity # Setup stepper max halt velocity
@ -85,17 +87,6 @@ class PolarKinematics:
self.limit_xy2 = -1. self.limit_xy2 = -1.
for s in self.steppers: for s in self.steppers:
s.motor_enable(print_time, 0) s.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, print_time, move):
if move.axes_d[0] or move.axes_d[1]:
self.steppers[0].motor_enable(print_time, 1)
self.rails[0].motor_enable(print_time, 1)
if move.axes_d[2]:
self.rails[1].motor_enable(print_time, 1)
need_motor_enable = not self.steppers[0].is_motor_enabled()
for rail in self.rails:
need_motor_enable |= not rail.is_motor_enabled()
self.need_motor_enable = need_motor_enable
def check_move(self, move): def check_move(self, move):
end_pos = move.end_pos end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2 xy2 = end_pos[0]**2 + end_pos[1]**2
@ -114,15 +105,7 @@ class PolarKinematics:
move.limit_speed( move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio) self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, print_time, move): def move(self, print_time, move):
if self.need_motor_enable: pass
self._check_motor_enable(print_time, move)
axes_d = move.axes_d
cmove = move.cmove
if axes_d[0] or axes_d[1]:
self.rails[0].step_itersolve(cmove)
self.steppers[0].step_itersolve(cmove)
if axes_d[2]:
self.rails[1].step_itersolve(cmove)
def get_status(self): def get_status(self):
return {'homed_axes': (("XY" if self.limit_xy2 >= 0. else "") + return {'homed_axes': (("XY" if self.limit_xy2 >= 0. else "") +
("Z" if self.limit_z[0] <= self.limit_z[1] else ""))} ("Z" if self.limit_z[0] <= self.limit_z[1] else ""))}