Commit Graph

21 Commits

Author SHA1 Message Date
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 351b565728 delta: 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 c3f916c60e delta: Make sure to clear limit_xy2 after a homing move
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-27 11:54:17 -04:00
Kevin O'Connor 936a4acd0d delta: Make sure to also exempt the homing retract move from boundary checks
Commit 459e5219 added a special case to the boundary checks to permit
homing moves.  In some cases, the second home retract could also be
outside the normal boundary checks - extend the special case to also
permit that move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-27 11:43:24 -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 459e521991 delta: Add a special case to the limit checks for the homing position
When a delta printer has different arm lengths or different endstop
positions then the homing position falls outside of the normal
printable area.  Add a special check to the range checking code to
permit this move instead of homing to a position near the actual
homing position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 12:18:22 -04:00
Kevin O'Connor bd1ba86839 delta: Reorganize init()
Just code movement.  Move boundary check init to after tower init.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-10-10 12:18:22 -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 3db483e270 delta: Wrap lines to 80 columns
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
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 ed0882dc10 delta: Move "stable position" logic to delta_calibrate.py
Move the "stable position" logic from the delta.py kinematics code to
the delta_calibrate.py calibration code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-09-25 13:48:46 -04:00
Kevin O'Connor 390d549c0c delta: Fix maximum halt velocity calculation
If an arm is nearly parallel to the bed then that tower's carriage may
have a velocity up to 3 times greater than the toolhead's maximum
velocity (relative to the print).  Take that into account when
calculating the stepper's maximum halt velocity.

This fixes some rare "No next step" shutdowns on delta printers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-09-12 22:29:18 -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 28fa954487 delta: Store stable positions as integers
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-15 22:05:13 -04:00
Kevin O'Connor ce0f4fe038 delta: Minor change to get_position_from_stable()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-14 11:55:15 -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