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delta: Rework boundary checks 

Calculate and store the maximum xy2 value for the given z level each
time the head moves to a new z level.  This simplifies the boundary
check for common XY moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-12 22:17:32 -05:00
parent 3434ea540c
commit 9f65ae72c3
1 changed files with 16 additions and 10 deletions
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22
klippy/delta.py
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@ -13,7 +13,7 @@ class DeltaKinematics:
self.steppers = [stepper.PrinterStepper( self.steppers = [stepper.PrinterStepper(
printer, config.getsection('stepper_' + n), n) printer, config.getsection('stepper_' + n), n)
for n in ['a', 'b', 'c']] for n in ['a', 'b', 'c']]
self.need_motor_enable = True self.need_motor_enable = self.need_home = True
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9) self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
radius = config.getfloat('delta_radius') radius = config.getfloat('delta_radius')
arm_length = config.getfloat('delta_arm_length') arm_length = config.getfloat('delta_arm_length')
@ -77,11 +77,12 @@ class DeltaKinematics:
pos = self._cartesian_to_actuator(newpos) pos = self._cartesian_to_actuator(newpos)
for i in StepList: for i in StepList:
self.steppers[i].mcu_stepper.set_position(pos[i]) self.steppers[i].mcu_stepper.set_position(pos[i])
self.limit_xy2 = -1.
def home(self, homing_state): def home(self, homing_state):
# All axes are homed simultaneously # All axes are homed simultaneously
homing_state.set_axes([0, 1, 2]) homing_state.set_axes([0, 1, 2])
s = self.steppers[0] # Assume homing parameters same for all steppers s = self.steppers[0] # Assume homing parameters same for all steppers
self.limit_xy2 = self.max_xy2 self.need_home = False
# Initial homing # Initial homing
homepos = [0., 0., s.position_endstop, None] homepos = [0., 0., s.position_endstop, None]
coord = list(homepos) coord = list(homepos)
@ -103,7 +104,7 @@ class DeltaKinematics:
self.limit_xy2 = -1. self.limit_xy2 = -1.
for stepper in self.steppers: for stepper in self.steppers:
stepper.motor_enable(move_time, 0) stepper.motor_enable(move_time, 0)
self.need_motor_enable = True self.need_motor_enable = self.need_home = True
def _check_motor_enable(self, move_time): def _check_motor_enable(self, move_time):
for i in StepList: for i in StepList:
self.steppers[i].motor_enable(move_time, 1) self.steppers[i].motor_enable(move_time, 1)
@ -114,15 +115,20 @@ class DeltaKinematics:
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
if xy2 > self.limit_xy2 or end_pos[2] < 0.: if xy2 <= self.limit_xy2 and not move.axes_d[2]:
if self.limit_xy2 < 0.: # Normal XY move
return
if self.need_home:
raise homing.EndstopMoveError(end_pos, "Must home first") raise homing.EndstopMoveError(end_pos, "Must home first")
raise homing.EndstopMoveError(end_pos) limit_xy2 = self.max_xy2
if end_pos[2] > self.limit_z: if end_pos[2] > self.limit_z:
if end_pos[2] > self.max_z or xy2 > (self.max_z - end_pos[2])**2: limit_xy2 = min(limit_xy2, (self.max_z - end_pos[2])**2)
if xy2 > limit_xy2 or end_pos[2] < 0. or end_pos[2] > self.max_z:
raise homing.EndstopMoveError(end_pos) raise homing.EndstopMoveError(end_pos)
if move.axes_d[2]: if move.axes_d[2]:
move.limit_speed(self.max_z_velocity, 9999999.9) move.limit_speed(self.max_z_velocity, move.accel)
limit_xy2 = -1.
self.limit_xy2 = limit_xy2
def move(self, move_time, move): def move(self, move_time, move):
axes_d = move.axes_d axes_d = move.axes_d
move_d = movexy_d = move.move_d move_d = movexy_d = move.move_d