Commit Graph

29 Commits

Author SHA1 Message Date
Andrei Ignat bbd1ddadd1
corexy: Multiple steppers per axis on CoreXY (#4886)
Allowing multiple steppers per axis.

Signed-off-by: Andrei Ignat <andrei@ignat.se>
2022-02-28 23:11:50 -05:00
Kevin O'Connor de38ef4290 kinematics: Convert to Python3 string encoding
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-10-01 19:12:30 -04:00
Kevin O'Connor c0d860487a stepper: Remove set_tag_position() code
Have callers store the stepper positions in a dict.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-05-29 21:54:34 -04:00
Kevin O'Connor 5a5ecd88e2 stepper: Do not set min_stop_interval in micro-controller
The min_stop_interval safety check is fragile and leads to a notable
amount of complexity.  Avoid these issues by not programming this
safety check.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-04-30 11:09:08 -04:00
Kevin O'Connor c8434ec54b kinematics: Calculate axis_minimum/axis_maximum in advance
Calculate the get_status() axis_minimum and axis_maximum fields in
advance so that they don't need to be calculated on each get_status()
call.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-01-08 11:52:28 -05:00
Janar Sööt e68cf08d15 kinematics: report all axis limits (min/max)
Signed-off-by: Janar Sööt <janar.soot@gmail.com>
2020-12-28 10:19:57 -05:00
Kevin O'Connor f6dd97b784 homing: Remove EndstopError
There's no reason to distinguish between an EndstopError and a
CommandError, so just use CommandError.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-09-04 11:41:57 -04:00
Kevin O'Connor 1f3a160f47 toolhead: Add a move.move_error() helper
Move the EndstopMoveError() code from homing.py to a new method in the
toolhead Move class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-09-03 16:22:54 -04:00
David Smith c0f72a2c38
safe_z_home: Support note_z_not_homed() in kinematics (#2500)
Signed-off-by: David Smith <davidosmith@gmail.com>
2020-03-01 23:00:41 -05:00
Kevin O'Connor 8ed0f7c5c3 kinematics: Remove support for identifying Z steppers
The caller can now determine which steppers are connected to cartesian
Z movement via the new stepper.is_active_axis() method.  It is
therefore no longer necessary for the kinematic code to identify these
steppers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-01-23 20:47:01 -05:00
Kevin O'Connor 3683273936 toolhead: Report which axes are homed via get_status()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-24 20:21:13 -05:00
Kevin O'Connor 224574da4a stepper: Add get/set_tag_position() and convert calc_position()
Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call.  This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-13 19:00:17 -05:00
Kevin O'Connor a4995c61c9 stepper: Remove add_to_endstop() method
Now that the PrinterStepper and MCU_stepper classes have been merged,
there is no need for the add_to_endstop() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-12 17:32:18 -05:00
Kevin O'Connor bfb34e0701 stepper_enable: Move motor_off() logic to stepper_enable.py
Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py.  This simplifies the
toolhead and kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-12 17:32:18 -05:00
Kevin O'Connor 5500538fc5 toolhead: Rename register_move_handler() to register_step_generator()
Rename the function so it is more clear what the step generation code
path is.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-07 10:59:35 -05:00
Kevin O'Connor befd263260 toolhead: Remove kinematic move() call
Now that all kinematics use the trapq system, there is no need to call
into the kinematics on each g-code move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor b792e0fdd1 corexy: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Florian Heilmann f958542ebb kinematics: Add get_status() method to kinematics
Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>
2019-08-09 20:49:17 -04:00
Kevin O'Connor dd34768e3a homing: Remove no longer needed homing time delay code
Now that homing is implemented via "drip moves", it is no longer
necessary to round the homing speed and it is no longer necessary to
add a delay for cpu processing time.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-07-10 10:43:20 -04:00
Kevin O'Connor 75b73b09d6 corexy: Fix minimum halt velocity
Due to the corexy kinematics, the individual steppers may have a
velocity of sqrt(2) times faster than the cartesian velocity _and_ can
have an acceleration of sqrt(2) times faster.  Make sure to calculate
in the higher acceleration.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-03-30 14:35:18 -04:00
Kevin O'Connor d32506bd2e homing: Move homing offset adjustment logic to generic homing code
Move the "stepper phase" adjustment logic from the kinematic classes
to the generic homing.py code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 14:30:09 -04:00
Kevin O'Connor d4bf51231a homing: Implement second home from homing.py
Move the logic for performing the second home from the kinematics
classes to the generic homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 12:14:27 -04:00
Kevin O'Connor f7a7223b30 cartesian: Use homing_speed for homing retract speed
Commit b0d859f2 introduced a second_homing_speed parameter, and it
also changed the retract speed.  Revert the retract speed change (use
homing_speed when the head retracts).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-09 11:17:39 -04:00
Kevin O'Connor 36ae433b57 cartesian: Make sure to constrain second_homing_speed to max_z_velocity
Commit b0d859f2 introduced a second_homing_speed parameter; that
parameter needs to also be constrained to the max_z_velocity.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-08 10:52:46 -04:00
Chris Whiteford b0d859f220 stepper: Adding support for a second_homing_speed parameter (#677)
Signed-off-by: Chris Whiteford <chris@chrisandtennille.com>
2018-10-04 18:55:58 -04:00
Kevin O'Connor ca505bf4ac kinematics: Convert get_rails() method to get_steppers()
All callers of get_rails() actually just want the steppers, so return
them directly.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-16 10:16:16 -04:00
Kevin O'Connor a31c31aed4 mcu: Enhance itersolve stepper kinematics allocation
Allocate the stepper_kinematics directly in mcu.py - that way the
kinematic classes don't have to interact with the chelper code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-13 11:37:36 -04:00
Kevin O'Connor b988596519 toolhead: Fill cmove in toolhead instead of in each kinematic class
This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-13 11:37:20 -04:00
Kevin O'Connor 8faab46ed2 toolhead: Move kinematic modules to new kinematics/ directory
Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory.  This is intended to make adding new
kinematics a little easier.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-12 22:50:25 -04:00