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corexz: Add CoreXZ kinematics (#3129) 

Add a CoreXZ kinematics

Signed-off-by: Maks Zolin <mzolin@vorondesign.com>
This commit is contained in:
Voron 2020-07-30 09:42:23 -07:00 committed by GitHub
parent f3b980c1b2
commit 9213646c63
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5 changed files with 234 additions and 7 deletions
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81
config/example-corexz.cfg Normal file
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@ -0,0 +1,81 @@
# This file serves as documentation for config parameters of corexz
# style printers. One may copy and edit this file to configure a new
# corexz printer. Only parameters unique to corexz printers are
# described here - see the "example.cfg" file for description of common
# config parameters.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.
# The stepper_x section is used to describe the X axis as well as the
# stepper controlling the X+Z movement.
[stepper_x]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .01
endstop_pin: ^ar3
position_endstop: 0
position_max: 200
homing_speed: 50
[stepper_y]
step_pin: ar60
dir_pin: ar61
enable_pin: !ar56
step_distance: .01
endstop_pin: ^ar14
position_endstop: 0
position_max: 200
homing_speed: 50
# The stepper_z section is used to describe the Z axis as well as the
# stepper controlling the X-Z movement.
[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .0025
endstop_pin: ^ar18
position_endstop: 0.5
position_max: 200
[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: .0022
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: ATC Semitec 104GT-2
sensor_pin: analog13
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: ar9
[mcu]
serial: /dev/ttyACM0
pin_map: arduino
[printer]
kinematics: corexz
# This option must be "corexz" for corexz printers.
max_velocity: 300
max_accel: 3000
max_z_velocity: 50
max_z_accel: 30

18
klippy/chelper/__init__.py
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@ -16,8 +16,9 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
" -o %s %s")
SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
'kin_shaper.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@ -78,6 +79,10 @@ defs_kin_corexy = """
struct stepper_kinematics *corexy_stepper_alloc(char type);
"""
defs_kin_corexz = """
struct stepper_kinematics *corexz_stepper_alloc(char type);
"""
defs_kin_delta = """
struct stepper_kinematics *delta_stepper_alloc(double arm2
, double tower_x, double tower_y);
@ -165,11 +170,10 @@ defs_std = """
"""
defs_all = [
defs_pyhelper, defs_serialqueue, defs_std,
defs_stepcompress, defs_itersolve, defs_trapq,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
defs_kin_shaper,
defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy,
defs_kin_corexz, defs_kin_delta, defs_kin_polar, defs_kin_rotary_delta,
defs_kin_winch, defs_kin_extruder, defs_kin_shaper,
]
# Return the list of file modification times

40
klippy/chelper/kin_corexz.c Normal file
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@ -0,0 +1,40 @@
// CoreXZ kinematics stepper pulse time generation
//
// Copyright (C) 2020 Maks Zolin <mzolin@vorondesign.com>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
static double
corexz_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
return c.x + c.z;
}
static double
corexz_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
return c.x - c.z;
}
struct stepper_kinematics * __visible
corexz_stepper_alloc(char type)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (type == '+')
sk->calc_position_cb = corexz_stepper_plus_calc_position;
else if (type == '-')
sk->calc_position_cb = corexz_stepper_minus_calc_position;
sk->active_flags = AF_X | AF_Z;
return sk;
}

101
klippy/kinematics/corexz.py Normal file
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@ -0,0 +1,101 @@
# Code for handling the kinematics of corexz robots
#
# Copyright (C) 2020 Maks Zolin <mzolin@vorondesign.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper, homing
class CoreXZKinematics:
def __init__(self, toolhead, config):
# Setup axis rails
self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
stepper.PrinterRail(config.getsection('stepper_y')),
stepper.PrinterRail(config.getsection('stepper_z')) ]
self.rails[0].get_endstops()[0][0].add_stepper(
self.rails[2].get_steppers()[0])
self.rails[2].get_endstops()[0][0].add_stepper(
self.rails[0].get_steppers()[0])
self.rails[0].setup_itersolve('corexz_stepper_alloc', '+')
self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
self.rails[2].setup_itersolve('corexz_stepper_alloc', '-')
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
max_xy_accel = max_accel * math.sqrt(2.)
self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
self.rails[2].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_tag_position(self):
pos = [rail.get_tag_position() for rail in self.rails]
return [0.5 * (pos[0] + pos[2]), pos[1], 0.5 * (pos[0] - pos[2])]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
if i in homing_axes:
self.limits[i] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
rail = self.rails[axis]
# Determine movement
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
homepos = [None, None, None, None]
homepos[axis] = hi.position_endstop
forcepos = list(homepos)
if hi.positive_dir:
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):
if (move.axes_d[i]
and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise homing.EndstopMoveError(
end_pos, "Must home axis first")
raise homing.EndstopMoveError(end_pos)
def check_move(self, move):
limits = self.limits
xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]):
self._check_endstops(move)
if not move.axes_d[2]:
# Normal XY move - use defaults
return
# Move with Z - update velocity and accel for slower Z axis
self._check_endstops(move)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def get_status(self, eventtime):
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
return {'homed_axes': "".join(axes)}
def load_kinematics(toolhead, config):
return CoreXZKinematics(toolhead, config)

1
test/klippy/printers.test
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@ -5,6 +5,7 @@ GCODE move.gcode
DICTIONARY atmega2560.dict
CONFIG ../../config/example.cfg
CONFIG ../../config/example-corexy.cfg
CONFIG ../../config/example-corexz.cfg
CONFIG ../../config/example-delta.cfg
CONFIG ../../config/example-rotary-delta.cfg
CONFIG ../../config/example-winch.cfg