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corexy: 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 22:59:07 -04:00
parent 7afac2b3af
commit b792e0fdd1
2 changed files with 7 additions and 24 deletions
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3
klippy/chelper/kin_corexy.c
View File

@ -1,6 +1,6 @@
// CoreXY kinematics stepper pulse time generation // CoreXY kinematics stepper pulse time generation
// //
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> // Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
// //
// This file may be distributed under the terms of the GNU GPLv3 license. // This file may be distributed under the terms of the GNU GPLv3 license.
@ -35,5 +35,6 @@ corexy_stepper_alloc(char type)
sk->calc_position_cb = corexy_stepper_plus_calc_position; sk->calc_position_cb = corexy_stepper_plus_calc_position;
else if (type == '-') else if (type == '-')
sk->calc_position_cb = corexy_stepper_minus_calc_position; sk->calc_position_cb = corexy_stepper_minus_calc_position;
sk->active_flags = AF_X | AF_Y;
return sk; return sk;
} }

28
klippy/kinematics/corexy.py
View File

@ -1,6 +1,6 @@
# Code for handling the kinematics of corexy robots # Code for handling the kinematics of corexy robots
# #
# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2017-2019 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math import logging, math
@ -17,13 +17,15 @@ class CoreXYKinematics:
self.rails[0].setup_itersolve('corexy_stepper_alloc', '+') self.rails[0].setup_itersolve('corexy_stepper_alloc', '+')
self.rails[1].setup_itersolve('corexy_stepper_alloc', '-') self.rails[1].setup_itersolve('corexy_stepper_alloc', '-')
self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z') self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
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.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity # Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt() max_halt_velocity = toolhead.get_max_axis_halt()
@ -65,17 +67,6 @@ class CoreXYKinematics:
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3
for rail in self.rails: for rail in self.rails:
rail.motor_enable(print_time, 0) rail.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.rails[0].motor_enable(print_time, 1)
self.rails[1].motor_enable(print_time, 1)
if move.axes_d[2]:
self.rails[2].motor_enable(print_time, 1)
need_motor_enable = False
for rail in self.rails:
need_motor_enable |= not rail.is_motor_enabled()
self.need_motor_enable = need_motor_enable
def _check_endstops(self, move): def _check_endstops(self, move):
end_pos = move.end_pos end_pos = move.end_pos
for i in (0, 1, 2): for i in (0, 1, 2):
@ -101,16 +92,7 @@ class CoreXYKinematics:
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
rail_x, rail_y, rail_z = self.rails
if axes_d[0] or axes_d[1]:
rail_x.step_itersolve(cmove)
rail_y.step_itersolve(cmove)
if axes_d[2]:
rail_z.step_itersolve(cmove)
def get_status(self): def get_status(self):
return {'homed_axes': "".join([a return {'homed_axes': "".join([a
for a, (l, h) in zip("XYZ", self.limits) if l <= h]) for a, (l, h) in zip("XYZ", self.limits) if l <= h])