mcu: Change mcu_stepper.set_position() to take a location in millimeters

Update the set_position() method to convert from millimeters to
absolute step position.

Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 19:20:54 -04:00
parent 79f31238b0
commit e4153a536f
5 changed files with 16 additions and 21 deletions

View File

@ -23,8 +23,7 @@ class CartKinematics:
self.steppers[2].set_max_jerk(0., self.max_z_accel) self.steppers[2].set_max_jerk(0., self.max_z_accel)
def set_position(self, newpos): def set_position(self, newpos):
for i in StepList: for i in StepList:
s = self.steppers[i] self.steppers[i].mcu_stepper.set_position(newpos[i])
s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
def home(self, homing_state): def home(self, homing_state):
# Each axis is homed independently and in order # Each axis is homed independently and in order
for axis in homing_state.get_axes(): for axis in homing_state.get_axes():
@ -55,7 +54,7 @@ class CartKinematics:
homing_state.home( homing_state.home(
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True) list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
# Set final homed position # Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord) homing_state.set_homed_position(coord)
def motor_off(self, move_time): def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3

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@ -26,12 +26,7 @@ class CoreXYKinematics:
def set_position(self, newpos): def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2]) pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList: for i in StepList:
s = self.steppers[i] self.steppers[i].mcu_stepper.set_position(pos[i])
if pos[i] >= 0.:
steppos = int(pos[i]*s.inv_step_dist + 0.5)
else:
steppos = int(pos[i]*s.inv_step_dist - 0.5)
s.mcu_stepper.set_position(steppos)
def home(self, homing_state): def home(self, homing_state):
# Each axis is homed independently and in order # Each axis is homed independently and in order
for axis in homing_state.get_axes(): for axis in homing_state.get_axes():
@ -63,8 +58,7 @@ class CoreXYKinematics:
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True) list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
if axis == 2: if axis == 2:
# Support endstop phase detection on Z axis # Support endstop phase detection on Z axis
coord[axis] = (s.position_endstop coord[axis] = s.position_endstop + s.get_homed_offset()
+ s.get_homed_offset()*s.step_dist)
homing_state.set_homed_position(coord) homing_state.set_homed_position(coord)
def motor_off(self, move_time): def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3

View File

@ -59,10 +59,9 @@ class DeltaKinematics:
for stepper in self.steppers: for stepper in self.steppers:
stepper.set_max_jerk(max_xy_halt_velocity, max_accel) stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
def _cartesian_to_actuator(self, coord): def _cartesian_to_actuator(self, coord):
return [int((math.sqrt(self.arm_length2 return [math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2 - (self.towers[i][0] - coord[0])**2
- (self.towers[i][1] - coord[1])**2) + coord[2]) - (self.towers[i][1] - coord[1])**2) + coord[2]
* self.steppers[i].inv_step_dist + 0.5)
for i in StepList] for i in StepList]
def _actuator_to_cartesian(self, pos): def _actuator_to_cartesian(self, pos):
# Based on code from Smoothieware # Based on code from Smoothieware
@ -118,8 +117,7 @@ class DeltaKinematics:
homing_state.home(list(coord), homepos, self.steppers homing_state.home(list(coord), homepos, self.steppers
, s.homing_speed/2.0, second_home=True) , s.homing_speed/2.0, second_home=True)
# Set final homed position # Set final homed position
coord = [(s.mcu_stepper.get_commanded_position() + s.get_homed_offset()) coord = [s.mcu_stepper.get_commanded_position() + s.get_homed_offset()
* s.step_dist
for s in self.steppers] for s in self.steppers]
homing_state.set_homed_position(self._actuator_to_cartesian(coord)) homing_state.set_homed_position(self._actuator_to_cartesian(coord))
def motor_off(self, move_time): def motor_off(self, move_time):

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@ -69,10 +69,14 @@ class MCU_stepper:
def get_oid(self): def get_oid(self):
return self._oid return self._oid
def set_position(self, pos): def set_position(self, pos):
self._mcu_position_offset += self._commanded_pos - pos if pos >= 0.:
self._commanded_pos = pos steppos = int(pos * self._inv_step_dist + 0.5)
else:
steppos = int(pos * self._inv_step_dist - 0.5)
self._mcu_position_offset += self._commanded_pos - steppos
self._commanded_pos = steppos
def get_commanded_position(self): def get_commanded_position(self):
return self._commanded_pos return self._commanded_pos * self._step_dist
def get_mcu_position(self): def get_mcu_position(self):
return self._commanded_pos + self._mcu_position_offset return self._commanded_pos + self._mcu_position_offset
def note_homing_start(self, homing_clock): def note_homing_start(self, homing_clock):

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@ -99,4 +99,4 @@ class PrinterStepper:
raise homing.EndstopError( raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" % ( "Endstop %s incorrect phase (got %d vs %d)" % (
self.name, pos, self.homing_endstop_phase)) self.name, pos, self.homing_endstop_phase))
return delta return delta * self.step_dist