toolhead: Move kinematic modules to new kinematics/ directory

Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory.  This is intended to make adding new
kinematics a little easier.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/delta_calibrate.py

@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
-import probe, delta, mathutil
+import probe, mathutil, kinematics.delta
 
 class DeltaCalibrate:
     def __init__(self, config):
@@ -40,10 +40,11 @@ class DeltaCalibrate:
         logging.info("Initial delta_calibrate parameters: %s", params)
         adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
                       'angle_a', 'angle_b')
+        get_position_from_stable = kinematics.delta.get_position_from_stable
         def delta_errorfunc(params):
             total_error = 0.
             for spos in positions:
-                x, y, z = delta.get_position_from_stable(spos, params)
+                x, y, z = get_position_from_stable(spos, params)
                 total_error += (z - z_offset)**2
             return total_error
         new_params = mathutil.coordinate_descent(
@@ -51,8 +52,8 @@ class DeltaCalibrate:
         logging.info("Calculated delta_calibrate parameters: %s", new_params)
         for spos in positions:
             logging.info("orig: %s new: %s",
-                         delta.get_position_from_stable(spos, params),
+                         get_position_from_stable(spos, params),
-                         delta.get_position_from_stable(spos, new_params))
+                         get_position_from_stable(spos, new_params))
         self.gcode.respond_info(
             "stepper_a: position_endstop: %.6f angle: %.6f\n"
             "stepper_b: position_endstop: %.6f angle: %.6f\n"

klippy/gcode.py

@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, re, logging, collections
-import homing, extruder
+import homing, kinematics.extruder
 
 class error(Exception):
     pass
@@ -116,7 +116,7 @@ class GCodeParser:
         if self.move_transform is None:
             self.move_with_transform = self.toolhead.move
             self.position_with_transform = self.toolhead.get_position
-        extruders = extruder.get_printer_extruders(self.printer)
+        extruders = kinematics.extruder.get_printer_extruders(self.printer)
         if extruders:
             self.extruder = extruders[0]
             self.toolhead.set_extruder(self.extruder)
@@ -396,7 +396,7 @@ class GCodeParser:
         self.respond_info('Unknown command:"%s"' % (cmd,))
     def cmd_Tn(self, params):
         # Select Tool
-        extruders = extruder.get_printer_extruders(self.printer)
+        extruders = kinematics.extruder.get_printer_extruders(self.printer)
         index = self.get_int('T', params, minval=0, maxval=len(extruders)-1)
         e = extruders[index]
         if self.extruder is e:

klippy/kinematics/__init__.py

@@ -0,0 +1,5 @@
+# Package definition for the kinematics directory
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.

klippy/kinematics/cartesian.py

@@ -168,3 +168,6 @@ class CartKinematics:
         carriage = gcode.get_int('CARRIAGE', params, minval=0, maxval=1)
         self._activate_carriage(carriage)
         gcode.reset_last_position()
+
+def load_kinematics(toolhead, config):
+    return CartKinematics(toolhead, config)

klippy/kinematics/corexy.py

@@ -141,3 +141,6 @@ class CoreXYKinematics:
             rail_y.step_itersolve(cmove)
         if axes_d[2]:
             rail_z.step_itersolve(cmove)
+
+def load_kinematics(toolhead, config):
+    return CoreXYKinematics(toolhead, config)

klippy/kinematics/delta.py

@@ -198,3 +198,6 @@ def get_position_from_stable(spos, params):
     sphere_coords = [(t[0], t[1], es + math.sqrt(a2 - radius2) - p)
                      for t, es, a2, p in zip(towers, endstops, arm2, spos)]
     return mathutil.trilateration(sphere_coords, arm2)
+
+def load_kinematics(toolhead, config):
+    return DeltaKinematics(toolhead, config)

klippy/klippy.py

@@ -7,7 +7,7 @@
 import sys, os, optparse, logging, time, threading
 import collections, ConfigParser, importlib
 import util, reactor, queuelogger, msgproto
-import gcode, pins, heater, mcu, toolhead, extruder
+import gcode, pins, heater, mcu, toolhead
 
 message_ready = "Printer is ready"
 
@@ -216,7 +216,7 @@ class Printer:
             m.add_printer_objects(config)
         for section in fileconfig.sections():
             self.try_load_module(config, section)
-        for m in [toolhead, extruder]:
+        for m in [toolhead]:
             m.add_printer_objects(config)
         # Validate that there are no undefined parameters in the config file
         valid_sections = { s: 1 for s, o in self.all_config_options }

klippy/toolhead.py

@@ -3,8 +3,8 @@
 # Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import math, logging
+import math, logging, importlib
-import mcu, homing, cartesian, corexy, delta, extruder
+import mcu, homing, kinematics.extruder
 
 # Common suffixes: _d is distance (in mm), _v is velocity (in
 #   mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@@ -227,12 +227,16 @@ class ToolHead:
         self.motor_off_timer = self.reactor.register_timer(
             self._motor_off_handler, self.reactor.NOW)
         # Create kinematics class
-        self.extruder = extruder.DummyExtruder()
+        self.extruder = kinematics.extruder.DummyExtruder()
         self.move_queue.set_extruder(self.extruder)
-        kintypes = {'cartesian': cartesian.CartKinematics,
+        kin_name = config.get('kinematics')
-                    'corexy': corexy.CoreXYKinematics,
+        try:
-                    'delta': delta.DeltaKinematics}
+            mod = importlib.import_module('kinematics.' + kin_name)
-        self.kin = config.getchoice('kinematics', kintypes)(self, config)
+            self.kin = mod.load_kinematics(self, config)
+        except:
+            msg = "Error loading kinematics '%s'" % (kin_name,)
+            logging.exception(msg)
+            raise config.error(msg)
         # SET_VELOCITY_LIMIT command
         gcode = self.printer.lookup_object('gcode')
         gcode.register_command('SET_VELOCITY_LIMIT', self.cmd_SET_VELOCITY_LIMIT,
@@ -353,7 +357,7 @@ class ToolHead:
         self.dwell(STALL_TIME)
         last_move_time = self.get_last_move_time()
         self.kin.motor_off(last_move_time)
-        for ext in extruder.get_printer_extruders(self.printer):
+        for ext in kinematics.extruder.get_printer_extruders(self.printer):
             ext.motor_off(last_move_time)
         self.dwell(STALL_TIME)
         self.need_motor_off = False
@@ -444,3 +448,4 @@ class ToolHead:
 
 def add_printer_objects(config):
     config.get_printer().add_object('toolhead', ToolHead(config))
+    kinematics.extruder.add_printer_objects(config)