102 lines
4.7 KiB
Python
102 lines
4.7 KiB
Python
# Code for handling the kinematics of corexy robots
|
|
#
|
|
# Copyright (C) 2017-2019 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging, math
|
|
import stepper, homing
|
|
|
|
class CoreXYKinematics:
|
|
def __init__(self, toolhead, config):
|
|
# Setup axis rails
|
|
self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
|
|
stepper.PrinterRail(config.getsection('stepper_y')),
|
|
stepper.LookupMultiRail(config.getsection('stepper_z')) ]
|
|
self.rails[0].get_endstops()[0][0].add_stepper(
|
|
self.rails[1].get_steppers()[0])
|
|
self.rails[1].get_endstops()[0][0].add_stepper(
|
|
self.rails[0].get_steppers()[0])
|
|
self.rails[0].setup_itersolve('corexy_stepper_alloc', '+')
|
|
self.rails[1].setup_itersolve('corexy_stepper_alloc', '-')
|
|
self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
|
|
for s in self.get_steppers():
|
|
s.set_trapq(toolhead.get_trapq())
|
|
toolhead.register_step_generator(s.generate_steps)
|
|
config.get_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()
|
|
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
|
|
max_xy_accel = max_accel * math.sqrt(2.)
|
|
self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
|
|
self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
|
|
self.rails[2].set_max_jerk(
|
|
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
|
|
def get_steppers(self, flags=""):
|
|
if flags == "Z":
|
|
return self.rails[2].get_steppers()
|
|
return [s for rail in self.rails for s in rail.get_steppers()]
|
|
def calc_tag_position(self):
|
|
pos = [rail.get_tag_position() for rail in self.rails]
|
|
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
|
|
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(self, homing_state):
|
|
# Each axis is homed independently and in order
|
|
for axis in homing_state.get_axes():
|
|
rail = self.rails[axis]
|
|
# 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 _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)}
|
|
|
|
def load_kinematics(toolhead, config):
|
|
return CoreXYKinematics(toolhead, config)
|