148 lines
6.6 KiB
Python
148 lines
6.6 KiB
Python
# Code for handling the kinematics of cartesian robots
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#
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# Copyright (C) 2016-2018 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
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import stepper, homing
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class CartKinematics:
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def __init__(self, toolhead, config):
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self.printer = config.get_printer()
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# Setup axis rails
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self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
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for n in ['x', 'y', 'z']]
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for rail, axis in zip(self.rails, 'xyz'):
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rail.setup_itersolve('cartesian_stepper_alloc', axis)
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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.limits = [(1.0, -1.0)] * 3
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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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self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
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self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
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self.rails[2].set_max_jerk(
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min(max_halt_velocity, self.max_z_velocity), max_accel)
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# Check for dual carriage support
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self.dual_carriage_axis = None
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self.dual_carriage_rails = []
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if config.has_section('dual_carriage'):
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dc_config = config.getsection('dual_carriage')
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dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
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self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
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dc_rail = stepper.LookupMultiRail(dc_config)
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dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis)
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dc_rail.set_max_jerk(max_halt_velocity, max_accel)
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self.dual_carriage_rails = [
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self.rails[self.dual_carriage_axis], dc_rail]
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self.printer.lookup_object('gcode').register_command(
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'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
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desc=self.cmd_SET_DUAL_CARRIAGE_help)
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def get_steppers(self, flags=""):
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if flags == "Z":
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return self.rails[2].get_steppers()
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return [s for rail in self.rails for s in rail.get_steppers()]
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def calc_position(self):
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return [rail.get_commanded_position() for rail in self.rails]
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def set_position(self, newpos, homing_axes):
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for i, rail in enumerate(self.rails):
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rail.set_position(newpos)
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if i in homing_axes:
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self.limits[i] = rail.get_range()
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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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forcepos = list(homepos)
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if hi.positive_dir:
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forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
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else:
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forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
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# Perform homing
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homing_state.home_rails([rail], forcepos, homepos)
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def home(self, homing_state):
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# Each axis is homed independently and in order
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for axis in homing_state.get_axes():
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if axis == self.dual_carriage_axis:
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dc1, dc2 = self.dual_carriage_rails
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altc = self.rails[axis] == dc2
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self._activate_carriage(0)
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self._home_axis(homing_state, axis, dc1)
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self._activate_carriage(1)
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self._home_axis(homing_state, axis, dc2)
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self._activate_carriage(altc)
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else:
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self._home_axis(homing_state, axis, self.rails[axis])
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def motor_off(self, print_time):
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self.limits = [(1.0, -1.0)] * 3
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for rail in self.rails:
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rail.motor_enable(print_time, 0)
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for rail in self.dual_carriage_rails:
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rail.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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need_motor_enable = False
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for i, rail in enumerate(self.rails):
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if move.axes_d[i]:
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rail.motor_enable(print_time, 1)
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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_endstops(self, move):
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end_pos = move.end_pos
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for i in (0, 1, 2):
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if (move.axes_d[i]
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and (end_pos[i] < self.limits[i][0]
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or end_pos[i] > self.limits[i][1])):
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if self.limits[i][0] > self.limits[i][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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def check_move(self, move):
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limits = self.limits
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xpos, ypos = move.end_pos[:2]
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if (xpos < limits[0][0] or xpos > limits[0][1]
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or ypos < limits[1][0] or ypos > limits[1][1]):
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self._check_endstops(move)
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if not move.axes_d[2]:
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# Normal XY move - use defaults
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return
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# Move with Z - update velocity and accel for slower Z axis
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self._check_endstops(move)
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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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for i, rail in enumerate(self.rails):
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if move.axes_d[i]:
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rail.step_itersolve(move.cmove)
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# Dual carriage support
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def _activate_carriage(self, carriage):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.get_last_move_time()
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dc_rail = self.dual_carriage_rails[carriage]
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dc_axis = self.dual_carriage_axis
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self.rails[dc_axis] = dc_rail
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extruder_pos = toolhead.get_position()[3]
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toolhead.set_position(self.calc_position() + [extruder_pos])
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if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
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self.limits[dc_axis] = dc_rail.get_range()
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self.need_motor_enable = True
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cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
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def cmd_SET_DUAL_CARRIAGE(self, params):
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gcode = self.printer.lookup_object('gcode')
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carriage = gcode.get_int('CARRIAGE', params, minval=0, maxval=1)
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self._activate_carriage(carriage)
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gcode.reset_last_position()
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def load_kinematics(toolhead, config):
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return CartKinematics(toolhead, config)
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