From e68cf08d15a985ecce7497b58408ee233dd54eb9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Janar=20S=C3=B6=C3=B6t?= Date: Mon, 28 Dec 2020 00:37:32 +0200 Subject: [PATCH] kinematics: report all axis limits (min/max) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Janar Sööt --- docs/Command_Templates.md | 5 +++++ klippy/kinematics/cartesian.py | 12 ++++++++++-- klippy/kinematics/corexy.py | 12 ++++++++++-- klippy/kinematics/corexz.py | 12 ++++++++++-- klippy/kinematics/delta.py | 11 +++++++++-- klippy/kinematics/none.py | 8 +++++++- klippy/kinematics/polar.py | 12 ++++++++++-- klippy/kinematics/rotary_delta.py | 11 +++++++++-- klippy/kinematics/winch.py | 13 +++++++++++-- 9 files changed, 81 insertions(+), 15 deletions(-) diff --git a/docs/Command_Templates.md b/docs/Command_Templates.md index 64fdacc9..57a5fa91 100644 --- a/docs/Command_Templates.md +++ b/docs/Command_Templates.md @@ -187,6 +187,11 @@ The following are common printer attributes: - `printer.toolhead.homed_axes`: The current cartesian axes considered to be in a "homed" state. This is a string containing one or more of "x", "y", "z". +- `printer.toolhead.axis_minimum`, + `printer.toolhead.axis_maximum`: The axis travel limits (mm) after homing. + It is possible to access the x, y, z components of this + limit value (eg, `printer.toolhead.axis_minimum.x`, + `printer.toolhead.axis_maximum.z`). - `printer.toolhead.max_velocity`, `printer.toolhead.max_accel`, `printer.toolhead.max_accel_to_decel`, `printer.toolhead.square_corner_velocity`: The current printing diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index b568dae8..ed9b19b3 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging -import stepper +import stepper, homing class CartKinematics: def __init__(self, toolhead, config): @@ -118,7 +118,15 @@ class CartKinematics: 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) } + axes_min = [0.0, 0.0, 0.0, 0.0] + axes_max = [0.0, 0.0, 0.0, 0.0] + for pos, rail in enumerate(self.rails): + axes_min[pos], axes_max[pos] = rail.get_range() + return { + 'homed_axes': "".join(axes), + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } # Dual carriage support def _activate_carriage(self, carriage): toolhead = self.printer.lookup_object('toolhead') diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 51ef9d43..73f1dd4c 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math -import stepper +import stepper, homing class CoreXYKinematics: def __init__(self, toolhead, config): @@ -95,7 +95,15 @@ class CoreXYKinematics: 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)} + axes_min = [0.0, 0.0, 0.0, 0.0] + axes_max = [0.0, 0.0, 0.0, 0.0] + for pos, rail in enumerate(self.rails): + axes_min[pos], axes_max[pos] = rail.get_range() + return { + 'homed_axes': "".join(axes), + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } def load_kinematics(toolhead, config): return CoreXYKinematics(toolhead, config) diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py index d6d43488..584cce59 100644 --- a/klippy/kinematics/corexz.py +++ b/klippy/kinematics/corexz.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math -import stepper +import stepper, homing class CoreXZKinematics: def __init__(self, toolhead, config): @@ -94,7 +94,15 @@ class CoreXZKinematics: 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)} + axes_min = [0.0, 0.0, 0.0, 0.0] + axes_max = [0.0, 0.0, 0.0, 0.0] + for pos, rail in enumerate(self.rails): + axes_min[pos], axes_max[pos] = rail.get_range() + return { + 'homed_axes': "".join(axes), + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } def load_kinematics(toolhead, config): return CoreXZKinematics(toolhead, config) diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py index 506052df..2ee8ca41 100644 --- a/klippy/kinematics/delta.py +++ b/klippy/kinematics/delta.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import stepper, mathutil +import stepper, mathutil, homing # Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO SLOW_RATIO = 3. @@ -146,7 +146,14 @@ class DeltaKinematics: limit_xy2 = -1. self.limit_xy2 = min(limit_xy2, self.slow_xy2) def get_status(self, eventtime): - return {'homed_axes': '' if self.need_home else 'xyz'} + max_xy = math.sqrt(self.max_xy2) + axes_min = [-max_xy, -max_xy, self.min_z, 0.] + axes_max = [max_xy, max_xy, self.max_z, 0.] + return { + 'homed_axes': '' if self.need_home else 'xyz', + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } def get_calibration(self): endstops = [rail.get_homing_info().position_endstop for rail in self.rails] diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py index 6ce461a5..e022b2d6 100644 --- a/klippy/kinematics/none.py +++ b/klippy/kinematics/none.py @@ -3,6 +3,7 @@ # Copyright (C) 2018 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. +import homing class NoneKinematics: def __init__(self, toolhead, config): @@ -18,7 +19,12 @@ class NoneKinematics: def check_move(self, move): pass def get_status(self, eventtime): - return {'homed_axes': ''} + axes_lim = [0.0, 0.0, 0.0, 0.0] + return { + 'homed_axes': '', + 'axis_minimum': homing.Coord(*axes_lim), + 'axis_maximum': homing.Coord(*axes_lim) + } def load_kinematics(toolhead, config): return NoneKinematics(toolhead, config) diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index 0873de65..14c92437 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, math -import stepper +import stepper, homing class PolarKinematics: def __init__(self, toolhead, config): @@ -108,7 +108,15 @@ class PolarKinematics: def get_status(self, eventtime): xy_home = "xy" if self.limit_xy2 >= 0. else "" z_home = "z" if self.limit_z[0] <= self.limit_z[1] else "" - return {'homed_axes': xy_home + z_home} + lim_xy = self.rails[0].get_range() + lim_z = self.rails[1].get_range() + axes_min = [lim_xy[0], lim_xy[0], lim_z[0], 0.] + axes_max = [lim_xy[1], lim_xy[1], lim_z[1], 0.] + return { + 'homed_axes': xy_home + z_home, + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } def load_kinematics(toolhead, config): return PolarKinematics(toolhead, config) diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py index c11dd6f6..2901ca60 100644 --- a/klippy/kinematics/rotary_delta.py +++ b/klippy/kinematics/rotary_delta.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import stepper, mathutil, chelper +import stepper, mathutil, chelper, homing class RotaryDeltaKinematics: def __init__(self, toolhead, config): @@ -122,7 +122,14 @@ class RotaryDeltaKinematics: limit_xy2 = -1. self.limit_xy2 = limit_xy2 def get_status(self, eventtime): - return {'homed_axes': '' if self.need_home else 'XYZ'} + max_xy = math.sqrt(self.max_xy2) + axes_min = [-max_xy, -max_xy, self.min_z, 0.] + axes_max = [max_xy, max_xy, self.max_z, 0.] + return { + 'homed_axes': '' if self.need_home else 'XYZ', + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } def get_calibration(self): return self.calibration diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py index 04e2d498..4785d8ac 100644 --- a/klippy/kinematics/winch.py +++ b/klippy/kinematics/winch.py @@ -3,7 +3,7 @@ # Copyright (C) 2018-2019 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. -import stepper, mathutil +import stepper, mathutil, homing class WinchKinematics: def __init__(self, toolhead, config): @@ -47,7 +47,16 @@ class WinchKinematics: pass def get_status(self, eventtime): # XXX - homed_checks and rail limits not implemented - return {'homed_axes': 'xyz'} + axes_min = [0.0, 0.0, 0.0, 0.0] + axes_max = [0.0, 0.0, 0.0, 0.0] + for pos, axis in enumerate('xyz'): + axes_min[pos] = min([a[pos] for a in self.anchors]) + axes_max[pos] = max([a[pos] for a in self.anchors]) + return { + 'homed_axes': 'xyz', + 'axis_minimum': homing.Coord(*axes_min), + 'axis_maximum': homing.Coord(*axes_max) + } def load_kinematics(toolhead, config): return WinchKinematics(toolhead, config)