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polar: Add initial support for multiple bed rotations 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-20 15:44:45 -04:00
parent d9d94c858a
commit e5f74a64ed
4 changed files with 59 additions and 8 deletions
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4
config/example-polar.cfg
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@ -3,9 +3,7 @@
# polar printer. # polar printer.
# POLAR KINEMATICS ARE A WORK IN PROGRESS. Moves around the 0,0 # POLAR KINEMATICS ARE A WORK IN PROGRESS. Moves around the 0,0
# position are known to not work properly. Moves to a negative Y # position are known to not work properly.
# coordinate from a positive Y coordinate (and vice-versa) when the
# head is at a negative X coordinate also do not work properly.
# Only parameters unique to polar printers are described here - see # Only parameters unique to polar printers are described here - see
# the "example.cfg" file for description of common config parameters. # the "example.cfg" file for description of common config parameters.

10
klippy/chelper/kin_polar.c
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@ -1,6 +1,6 @@
// Polar kinematics stepper pulse time generation // Polar 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.
@ -24,8 +24,12 @@ polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m
{ {
struct coord c = move_get_coord(m, move_time); struct coord c = move_get_coord(m, move_time);
// XXX - handle x==y==0 // XXX - handle x==y==0
// XXX - handle angle wrapping double angle = atan2(c.y, c.x);
return atan2(c.y, c.x); if (angle - sk->commanded_pos > M_PI)
angle -= 2. * M_PI;
else if (angle - sk->commanded_pos < -M_PI)
angle += 2. * M_PI;
return angle;
} }
struct stepper_kinematics * __visible struct stepper_kinematics * __visible

11
klippy/kinematics/polar.py
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@ -1,6 +1,6 @@
# Code for handling the kinematics of polar robots # Code for handling the kinematics of polar robots
# #
# 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.
import logging, math import logging, math
@ -122,8 +122,15 @@ class PolarKinematics:
axes_d = move.axes_d axes_d = move.axes_d
cmove = move.cmove cmove = move.cmove
if axes_d[0] or axes_d[1]: if axes_d[0] or axes_d[1]:
self.steppers[0].step_itersolve(cmove)
self.rails[0].step_itersolve(cmove) self.rails[0].step_itersolve(cmove)
stepper_bed = self.steppers[0]
stepper_bed.step_itersolve(cmove)
# Normalize the stepper_bed angle
angle = stepper_bed.get_commanded_position()
if angle < -math.pi:
stepper_bed.set_commanded_position(angle + 2. * math.pi)
elif angle > math.pi:
stepper_bed.set_commanded_position(angle - 2. * math.pi)
if axes_d[2]: if axes_d[2]:
self.rails[1].step_itersolve(cmove) self.rails[1].step_itersolve(cmove)

42
test/klippy/polar.test
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@ -30,3 +30,45 @@ G1 E0
; regular extrude move ; regular extrude move
G1 X10 Y0 E.01 G1 X10 Y0 E.01
; Multiple rotations
g1 X10 Y10
g1 X-10 Y10
g1 X-10 Y-10
g1 X10 Y-10
g1 X10 Y15
g1 X-10 Y15
g1 X-10 Y-15
g1 X10 Y-15
g1 X10 Y20
g1 X-10 Y20
g1 X-10 Y-20
g1 X10 Y-20
g1 X10 Y25
g1 X-10 Y25
g1 X-10 Y-25
g1 X10 Y-25
; Multiple rotations in reverse direction
g1 X-15 Y-25
g1 X-15 Y25
g1 X15 Y25
g1 X15 Y-25
g1 X-20 Y-25
g1 X-20 Y25
g1 X20 Y25
g1 X20 Y-25
g1 X-25 Y-25
g1 X-25 Y25
g1 X25 Y25
g1 X25 Y-25
g1 X-30 Y-25
g1 X-30 Y25
g1 X30 Y25
g1 X30 Y-25