145 lines
6.6 KiB
Python
145 lines
6.6 KiB
Python
# Code for handling the kinematics of cartesian robots
|
|
#
|
|
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging
|
|
import stepper, homing
|
|
|
|
class CartKinematics:
|
|
def __init__(self, toolhead, config):
|
|
self.printer = config.get_printer()
|
|
# Setup axis rails
|
|
self.dual_carriage_axis = None
|
|
self.dual_carriage_rails = []
|
|
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
|
|
for n in 'xyz']
|
|
for rail, axis in zip(self.rails, 'xyz'):
|
|
rail.setup_itersolve('cartesian_stepper_alloc', axis)
|
|
for s in self.get_steppers():
|
|
s.set_trapq(toolhead.get_trapq())
|
|
toolhead.register_step_generator(s.generate_steps)
|
|
self.printer.register_event_handler("stepper_enable:motor_off",
|
|
self._motor_off)
|
|
# Setup boundary checks
|
|
max_velocity, max_accel = toolhead.get_max_velocity()
|
|
self.max_z_velocity = config.getfloat(
|
|
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
|
|
self.max_z_accel = config.getfloat(
|
|
'max_z_accel', max_accel, above=0., maxval=max_accel)
|
|
self.limits = [(1.0, -1.0)] * 3
|
|
# Setup stepper max halt velocity
|
|
max_halt_velocity = toolhead.get_max_axis_halt()
|
|
self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
|
|
self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
|
|
self.rails[2].set_max_jerk(
|
|
min(max_halt_velocity, self.max_z_velocity), max_accel)
|
|
# Check for dual carriage support
|
|
if config.has_section('dual_carriage'):
|
|
dc_config = config.getsection('dual_carriage')
|
|
dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
|
|
self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
|
|
dc_rail = stepper.LookupMultiRail(dc_config)
|
|
dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis)
|
|
for s in dc_rail.get_steppers():
|
|
toolhead.register_step_generator(s.generate_steps)
|
|
dc_rail.set_max_jerk(max_halt_velocity, max_accel)
|
|
self.dual_carriage_rails = [
|
|
self.rails[self.dual_carriage_axis], dc_rail]
|
|
self.printer.lookup_object('gcode').register_command(
|
|
'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
|
|
desc=self.cmd_SET_DUAL_CARRIAGE_help)
|
|
def get_steppers(self, flags=""):
|
|
if flags == "Z":
|
|
return self.rails[2].get_steppers()
|
|
rails = self.rails
|
|
if self.dual_carriage_axis is not None:
|
|
dca = self.dual_carriage_axis
|
|
rails = rails[:dca] + self.dual_carriage_rails + rails[dca+1:]
|
|
return [s for rail in rails for s in rail.get_steppers()]
|
|
def calc_tag_position(self):
|
|
return [rail.get_tag_position() for rail in self.rails]
|
|
def set_position(self, newpos, homing_axes):
|
|
for i, rail in enumerate(self.rails):
|
|
rail.set_position(newpos)
|
|
if i in homing_axes:
|
|
self.limits[i] = rail.get_range()
|
|
def _home_axis(self, homing_state, axis, rail):
|
|
# Determine movement
|
|
position_min, position_max = rail.get_range()
|
|
hi = rail.get_homing_info()
|
|
homepos = [None, None, None, None]
|
|
homepos[axis] = hi.position_endstop
|
|
forcepos = list(homepos)
|
|
if hi.positive_dir:
|
|
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
|
|
else:
|
|
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
|
|
# Perform homing
|
|
homing_state.home_rails([rail], forcepos, homepos)
|
|
def home(self, homing_state):
|
|
# Each axis is homed independently and in order
|
|
for axis in homing_state.get_axes():
|
|
if axis == self.dual_carriage_axis:
|
|
dc1, dc2 = self.dual_carriage_rails
|
|
altc = self.rails[axis] == dc2
|
|
self._activate_carriage(0)
|
|
self._home_axis(homing_state, axis, dc1)
|
|
self._activate_carriage(1)
|
|
self._home_axis(homing_state, axis, dc2)
|
|
self._activate_carriage(altc)
|
|
else:
|
|
self._home_axis(homing_state, axis, self.rails[axis])
|
|
def _motor_off(self, print_time):
|
|
self.limits = [(1.0, -1.0)] * 3
|
|
def _check_endstops(self, move):
|
|
end_pos = move.end_pos
|
|
for i in (0, 1, 2):
|
|
if (move.axes_d[i]
|
|
and (end_pos[i] < self.limits[i][0]
|
|
or end_pos[i] > self.limits[i][1])):
|
|
if self.limits[i][0] > self.limits[i][1]:
|
|
raise homing.EndstopMoveError(
|
|
end_pos, "Must home axis first")
|
|
raise homing.EndstopMoveError(end_pos)
|
|
def check_move(self, move):
|
|
limits = self.limits
|
|
xpos, ypos = move.end_pos[:2]
|
|
if (xpos < limits[0][0] or xpos > limits[0][1]
|
|
or ypos < limits[1][0] or ypos > limits[1][1]):
|
|
self._check_endstops(move)
|
|
if not move.axes_d[2]:
|
|
# Normal XY move - use defaults
|
|
return
|
|
# Move with Z - update velocity and accel for slower Z axis
|
|
self._check_endstops(move)
|
|
z_ratio = move.move_d / abs(move.axes_d[2])
|
|
move.limit_speed(
|
|
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
|
|
def get_status(self, eventtime):
|
|
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
|
|
return { 'homed_axes': "".join(axes) }
|
|
# Dual carriage support
|
|
def _activate_carriage(self, carriage):
|
|
toolhead = self.printer.lookup_object('toolhead')
|
|
toolhead.flush_step_generation()
|
|
dc_rail = self.dual_carriage_rails[carriage]
|
|
dc_axis = self.dual_carriage_axis
|
|
self.rails[dc_axis].set_trapq(None)
|
|
dc_rail.set_trapq(toolhead.get_trapq())
|
|
self.rails[dc_axis] = dc_rail
|
|
pos = toolhead.get_position()
|
|
pos[dc_axis] = dc_rail.get_commanded_position()
|
|
toolhead.set_position(pos)
|
|
if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
|
|
self.limits[dc_axis] = dc_rail.get_range()
|
|
cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
|
|
def cmd_SET_DUAL_CARRIAGE(self, params):
|
|
gcode = self.printer.lookup_object('gcode')
|
|
carriage = gcode.get_int('CARRIAGE', params, minval=0, maxval=1)
|
|
self._activate_carriage(carriage)
|
|
gcode.reset_last_position()
|
|
|
|
def load_kinematics(toolhead, config):
|
|
return CartKinematics(toolhead, config)
|