Commit 002dc0df added rounding to the homing speed, but it did not
work if the configured homing speed was less than the printer's
maximum velocity. Move the speed rounding from stepper.py to
homing.py and make sure the rounded speed is less than the maximum
speed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the config file so that the delta arm length is specified
per-tower. This makes it possible to support advanced calibration.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the formulas for trilateration (instead of the circumcenter
formulas) when calculating the position of the nozzle from the
position of the carriages. The trilateration formula is more general
and it allows each tower to have a different arm length.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The homing code wants the list of endstops to enable during a homing
operation - it's confusing to pass the steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add wrappers around mcu_endstop and mcu_stepper so that the kinematic
classes do not need to directly access these low-level classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It is possible to have an acceleration greater than max_z_accel on
XY+Z moves. That needs to be taken into account when calculating the
min_stop_interval. This prevents spurious "No next step" MCU errors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Adjust the configured homing speed so that it always results in a
speed that is an even number of mcu ticks per step. This ensures that
the code can always get good step compression during homing, which is
important as the entire homing operation must be able to fit within
the mcu's move queue. This fixes some "move queue empty" mcu shutdown
errors that could occur when the Z step distance was an unusual size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Keep the homing code separate from the main stepper class. This makes
it easier to verify the correct config parameters are provided.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The endstop_position is intended to support different values for each
stepper so that the individual tower heights can be configured.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate where a tower must reverse direction during a move in the C
code instead of the delta.py kinematic code. This simplifies the
python code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The delta code calculates a "virtual tower" along the line of
movement. Rework the variable names and comments to make it clear
that this is occurring.
It is not necessary to pass the start_pos variable to the C code as it
is simple to update the start_pos at the start of each movement.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not necessary to have separate C delta kinematic functions for
constant acceleration and constant velocity as constant velocity can
be obtained by using a constant acceleration of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Now that the kinematic classes call the mcu_stepper with millimeters
and seconds it is no longer necessary for them to directly access the
stepper's position in absolute steps. Rename
mcu_stepper.commanded_position to mcu_stepper._commanded_pos to make
clear it is not a variable intended to be externally accessed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the parameters of step_delta_const() and step_delta_accel() so
that they take velocity and acceleration directly in millimeters and
seconds. This simplifies the delta.py kinematic code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the mcu objects can be created prior to connecting to the
mcu, it is no longer necessary to separate the init and build_config
phases in the high-level code. Move the mcu objection creation from
the build_config phase to the init phase and eliminate the
build_config phase.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Simplify the mechanism for limiting stepper speed (introduced in
commit bdfdf7ef) - split the extreme end of the build envelope into
two zones and use the same speeds for all moves that traverse any part
of one of those zones.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
There's no reason for the user to specify position_max - it can be
inferred on deltas from the endstop positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some XY moves at the extreme end of the build envelope could cause
excessive axis stepper movement. Check for any moves that could
possibly result in a stepper movement of more than 3 times the XY
movement and cap the move's acceleration and speed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate and store the maximum xy2 value for the given z level each
time the head moves to a new z level. This simplifies the boundary
check for common XY moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of requiring the user enter velocity and accel parameters for
extrude only moves, calculate sane defaults from the printer's maximum
velocity and accel.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a is_kinematic_move flag to the Move class and clear it on extrude
only moves. Don't call the kinematic check_move() or move() methods
for extrude only moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Taking the inverse of the XY move distance can lead to extremely large
values when the XY distance is very small. This can lead to
saturation of the double precision variables and incorrect results.
Rework the delta kinematic math to avoid using this inverse. Pass the
closestxy_d value directly to the C functions so that the C code can
calculate its intermediate constants.
After this change the move_z special case is no longer necessary as
the regular delta functions now work with movexy_r=0 and movez_r=1.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The head may be far away from an axis at the start of a home, and that
axis must then traverse more than just the distance from zero height
to the endstop position. Add in additional distance to account for
this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On a delta printer, z moves require the mcu to support the greatest
number of steps per second. However, z moves are rare, so it makes
sense to limit the velocity of z moves separately from the velocity of
normal xy moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the config file so the maximum accel and velocity are specified
in the "printer" section instead of the individual "stepper" sections.
The underlying code limits the velocity and accel of the toolhead
relative to the print object, so it makes sense to configure the
system that was as well.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 1e1364c3 moved the storage of the stepper position to the
mcu_stepper class. The initializing of that position needs to be
pushed back until after the mcu_stepper class is instantiated.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of checking the endstop trigger directly after a retract move,
verify some distance is traveled during the following homing
operation. This reduces the amount of synchronization between mcu and
host during homing.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow an EndstopError to be raised without a destination position.
Introduce EndstopMoveError wrapper so that current callers can
continue to pass in a move destination.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the Homing class in the gcode handler instead of in the
kinematic classes. This will make it easier to pass error messages
back to the user.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the QueryEndstops in the gcode handler instead of in the
kinematic classes. This simplifies the gcode handler as it can
directly register its response callback.
Also, store the stepper name in the stepper class. Also, propagate
the print_time of the query request to the mcu_endstop class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor