polar: Experimental support for polar kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
KevinOConnor
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# This file serves as documentation for config parameters of "polar"
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# style printers. One may copy and edit this file to configure a new
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# polar printer.
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# POLAR KINEMATICS ARE A WORK IN PROGRESS. Moves around the 0,0
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# position are known to not work properly. Moves to a negative Y
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# coordinate from a positive Y coordinate (and vice-versa) when the
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# head is at a negative X coordinate also do not work properly.
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# Only parameters unique to polar printers are described here - see
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# the "example.cfg" file for description of common config parameters.
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# The stepper_bed section is used to describe the stepper controlling
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# the bed.
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[stepper_bed]
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step_pin: ar54
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dir_pin: ar55
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enable_pin: !ar38
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step_distance: 0.000981748
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# On a polar printer the step_distance is the amount each step pulse
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# moves the bed in radians (for example, a 1.8 degree stepper with
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# 16 micro-steps would be 1.8 / 360 * pi / 16 == 0.000981748). This
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# parameter must be provided.
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# The stepper_arm section is used to describe the stepper controlling
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# the carriage on the arm.
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[stepper_arm]
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step_pin: ar60
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dir_pin: ar61
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enable_pin: !ar56
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step_distance: .01
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endstop_pin: ^ar14
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position_endstop: 300
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position_max: 300
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homing_speed: 50
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# The stepper_z section is used to describe the stepper controlling
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# the Z axis.
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[stepper_z]
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step_pin: ar46
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dir_pin: ar48
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enable_pin: !ar62
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step_distance: .0025
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endstop_pin: ^ar18
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position_endstop: 0.5
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position_max: 200
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[extruder]
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step_pin: ar26
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dir_pin: ar28
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enable_pin: !ar24
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step_distance: .0022
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: ar10
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sensor_type: ATC Semitec 104GT-2
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sensor_pin: analog13
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[heater_bed]
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heater_pin: ar8
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: analog14
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control: watermark
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min_temp: 0
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max_temp: 130
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[fan]
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pin: ar9
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[mcu]
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serial: /dev/ttyACM0
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pin_map: arduino
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[printer]
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kinematics: polar
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# This option must be "polar" for polar printers.
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 25
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max_z_accel: 30
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@ -16,7 +16,8 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
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" -o %s %s")
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SOURCE_FILES = [
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'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c',
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'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_extruder.c'
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'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
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'kin_extruder.c',
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]
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DEST_LIB = "c_helper.so"
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OTHER_FILES = [
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@ -70,6 +71,10 @@ defs_kin_delta = """
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, double tower_x, double tower_y);
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"""
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defs_kin_polar = """
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struct stepper_kinematics *polar_stepper_alloc(char type);
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"""
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defs_kin_extruder = """
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struct stepper_kinematics *extruder_stepper_alloc(void);
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void extruder_move_fill(struct move *m, double print_time
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@ -116,7 +121,8 @@ defs_std = """
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defs_all = [
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defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve,
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defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_extruder
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defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
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defs_kin_extruder
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]
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# Return the list of file modification times
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@ -0,0 +1,41 @@
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// Polar kinematics stepper pulse time generation
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//
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// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <math.h> // sqrt
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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static double
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polar_stepper_radius_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct coord c = move_get_coord(m, move_time);
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return sqrt(c.x*c.x + c.y*c.y);
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}
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static double
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polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct coord c = move_get_coord(m, move_time);
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// XXX - handle x==y==0
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// XXX - handle angle wrapping
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return atan2(c.y, c.x);
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}
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struct stepper_kinematics * __visible
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polar_stepper_alloc(char type)
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{
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struct stepper_kinematics *sk = malloc(sizeof(*sk));
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memset(sk, 0, sizeof(*sk));
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if (type == 'r')
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sk->calc_position = polar_stepper_radius_calc_position;
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else if (type == 'a')
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sk->calc_position = polar_stepper_angle_calc_position;
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return sk;
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}
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@ -0,0 +1,131 @@
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# Code for handling the kinematics of polar robots
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, math
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import stepper, homing
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class PolarKinematics:
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def __init__(self, toolhead, config):
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# Setup axis steppers
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stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'))
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rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
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rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
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stepper_bed.setup_itersolve('polar_stepper_alloc', 'a')
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rail_arm.setup_itersolve('polar_stepper_alloc', 'r')
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rail_z.setup_itersolve('cartesian_stepper_alloc', 'z')
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self.rails = [rail_arm, rail_z]
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self.steppers = [stepper_bed] + [ s for r in self.rails
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for s in r.get_steppers() ]
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# Setup boundary checks
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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self.max_z_accel = config.getfloat(
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'max_z_accel', max_accel, above=0., maxval=max_accel)
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self.need_motor_enable = True
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self.limit_z = [(1.0, -1.0)]
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self.limit_xy2 = -1.
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# Setup stepper max halt velocity
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max_halt_velocity = toolhead.get_max_axis_halt()
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stepper_bed.set_max_jerk(max_halt_velocity, max_accel)
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rail_arm.set_max_jerk(max_halt_velocity, max_accel)
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rail_z.set_max_jerk(max_halt_velocity, max_accel)
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def get_steppers(self, flags=""):
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if flags == "Z":
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return self.rails[1].get_steppers()
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return list(self.steppers)
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def calc_position(self):
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bed_angle = self.steppers[0].get_commanded_position()
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arm_pos = self.rails[0].get_commanded_position()
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z_pos = self.rails[1].get_commanded_position()
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return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos,
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z_pos]
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def set_position(self, newpos, homing_axes):
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for s in self.steppers:
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s.set_position(newpos)
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if 2 in homing_axes:
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self.limit_z = self.rails[1].get_range()
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if 0 in homing_axes and 1 in homing_axes:
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self.limit_xy2 = self.rails[0].get_range()[1]**2
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def _home_axis(self, homing_state, axis, rail):
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# Determine movement
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position_min, position_max = rail.get_range()
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hi = rail.get_homing_info()
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homepos = [None, None, None, None]
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homepos[axis] = hi.position_endstop
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if axis == 0:
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homepos[1] = 0.
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forcepos = list(homepos)
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if hi.positive_dir:
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forcepos[axis] -= hi.position_endstop - position_min
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else:
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forcepos[axis] += position_max - hi.position_endstop
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# Perform homing
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limit_speed = None
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if axis == 2:
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limit_speed = self.max_z_velocity
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homing_state.home_rails([rail], forcepos, homepos, limit_speed)
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def home(self, homing_state):
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# Always home XY together
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homing_axes = homing_state.get_axes()
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home_xy = 0 in homing_axes or 1 in homing_axes
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home_z = 2 in homing_axes
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updated_axes = []
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if home_xy:
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updated_axes = [0, 1]
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if home_z:
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updated_axes.append(2)
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homing_state.set_axes(updated_axes)
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# Do actual homing
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if home_xy:
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self._home_axis(homing_state, 0, self.rails[0])
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if home_z:
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self._home_axis(homing_state, 2, self.rails[1])
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def motor_off(self, print_time):
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self.limit_z = [(1.0, -1.0)]
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self.limit_xy2 = -1.
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for s in self.steppers:
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s.motor_enable(print_time, 0)
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self.need_motor_enable = True
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def _check_motor_enable(self, print_time, move):
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if move.axes_d[0] or move.axes_d[1]:
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self.steppers[0].motor_enable(print_time, 1)
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self.rails[0].motor_enable(print_time, 1)
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if move.axes_d[2]:
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self.rails[1].motor_enable(print_time, 1)
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need_motor_enable = not self.steppers[0].is_motor_enabled()
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for rail in self.rails:
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need_motor_enable |= not rail.is_motor_enabled()
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self.need_motor_enable = need_motor_enable
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def check_move(self, move):
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end_pos = move.end_pos
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xy2 = end_pos[0]**2 + end_pos[1]**2
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if xy2 > self.limit_xy2:
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if self.limit_xy2 < 0.:
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raise homing.EndstopMoveError(end_pos, "Must home axis first")
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raise homing.EndstopMoveError(end_pos)
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if move.axes_d[2]:
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if end_pos[2] < self.limit_z[0] or end_pos[2] > self.limit_z[1]:
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if self.limit_z[0] > self.limit_z[1]:
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raise homing.EndstopMoveError(
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end_pos, "Must home axis first")
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raise homing.EndstopMoveError(end_pos)
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# Move with Z - update velocity and accel for slower Z axis
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z_ratio = move.move_d / abs(move.axes_d[2])
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move.limit_speed(
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self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
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def move(self, print_time, move):
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if self.need_motor_enable:
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self._check_motor_enable(print_time, move)
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axes_d = move.axes_d
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cmove = move.cmove
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if axes_d[0] or axes_d[1]:
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self.steppers[0].step_itersolve(cmove)
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self.rails[0].step_itersolve(cmove)
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if axes_d[2]:
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self.rails[1].step_itersolve(cmove)
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def load_kinematics(toolhead, config):
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return PolarKinematics(toolhead, config)
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@ -0,0 +1,32 @@
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# Test case for basic movement on polar printers
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CONFIG ../../config/example-polar.cfg
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DICTIONARY atmega2560-16mhz.dict
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; Start by homing the printer.
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G28
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G90
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G1 F6000
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; Z / X / Y moves
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G1 Z1
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G1 X1
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G1 Y1
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; Delayed moves
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G1 Y2
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G4 P100
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G1 Y1.5
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M400
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G1 Y1
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; diagonal moves
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G1 X10 Y0
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G1 X1 Z2
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G1 X0 Y1 Z1
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; extrude only moves
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G1 E1
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G1 E0
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; regular extrude move
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G1 X10 Y0 E.01
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