63 lines
2.5 KiB
Python
63 lines
2.5 KiB
Python
# Code for handling the kinematics of cable winch robots
|
|
#
|
|
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import stepper, mathutil, homing
|
|
|
|
class WinchKinematics:
|
|
def __init__(self, toolhead, config):
|
|
# Setup steppers at each anchor
|
|
self.steppers = []
|
|
self.anchors = []
|
|
for i in range(26):
|
|
name = 'stepper_' + chr(ord('a') + i)
|
|
if i >= 3 and not config.has_section(name):
|
|
break
|
|
stepper_config = config.getsection(name)
|
|
s = stepper.PrinterStepper(stepper_config)
|
|
self.steppers.append(s)
|
|
a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz'])
|
|
self.anchors.append(a)
|
|
s.setup_itersolve('winch_stepper_alloc', *a)
|
|
s.set_trapq(toolhead.get_trapq())
|
|
toolhead.register_step_generator(s.generate_steps)
|
|
# Setup stepper max halt velocity
|
|
max_velocity, max_accel = toolhead.get_max_velocity()
|
|
max_halt_velocity = toolhead.get_max_axis_halt()
|
|
for s in self.steppers:
|
|
s.set_max_jerk(max_halt_velocity, max_accel)
|
|
# Setup boundary checks
|
|
self.set_position([0., 0., 0.], ())
|
|
def get_steppers(self):
|
|
return list(self.steppers)
|
|
def calc_tag_position(self):
|
|
# Use only first three steppers to calculate cartesian position
|
|
spos = [s.get_tag_position() for s in self.steppers[:3]]
|
|
return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
|
|
def set_position(self, newpos, homing_axes):
|
|
for s in self.steppers:
|
|
s.set_position(newpos)
|
|
def home(self, homing_state):
|
|
# XXX - homing not implemented
|
|
homing_state.set_axes([0, 1, 2])
|
|
homing_state.set_homed_position([0., 0., 0.])
|
|
def check_move(self, move):
|
|
# XXX - boundary checks and speed limits not implemented
|
|
pass
|
|
def get_status(self, eventtime):
|
|
# XXX - homed_checks and rail limits not implemented
|
|
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)
|