From 20ae4e5d98a6947c5eb5564d0c5cd084d9d42381 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 7 Jul 2016 14:23:48 -0400 Subject: [PATCH] cartesian: Rename CartKinematics class to ToolHead Signed-off-by: Kevin O'Connor --- klippy/cartesian.py | 26 +++++++++++++------------- klippy/gcode.py | 32 ++++++++++++++++---------------- klippy/homing.py | 18 +++++++++--------- klippy/klippy.py | 4 ++-- 4 files changed, 40 insertions(+), 40 deletions(-) diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 25e2036b..722bb73d 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -13,8 +13,8 @@ import lookahead, stepper, homing StepList = (0, 1, 2, 3) class Move: - def __init__(self, kin, pos, move_d, axes_d, speed, accel): - self.kin = kin + def __init__(self, toolhead, pos, move_d, axes_d, speed, accel): + self.toolhead = toolhead self.pos = tuple(pos) self.axes_d = axes_d self.move_d = move_d @@ -34,9 +34,9 @@ class Move: return junction_cos_theta = max(junction_cos_theta, -0.999999) sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)); - R = self.kin.junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2) - self.junction_start_max = min( - R * self.kin.max_xy_accel, self.junction_max, prev_move.junction_max) + R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2) + self.junction_start_max = min(R * self.toolhead.max_xy_accel, + self.junction_max, prev_move.junction_max) def process(self, junction_start, junction_end): # Determine accel, cruise, and decel portions of the move junction_cruise = self.junction_max @@ -64,19 +64,19 @@ class Move: # , next_move_time, accel_r, cruise_r)) # Calculate step times for the move - next_move_time = self.kin.get_next_move_time() + next_move_time = self.toolhead.get_next_move_time() for i in StepList: - new_step_pos = int(self.pos[i]*self.kin.steppers[i].inv_step_dist - + 0.5) - steps = new_step_pos - self.kin.stepper_pos[i] + new_step_pos = int( + self.pos[i]*self.toolhead.steppers[i].inv_step_dist + 0.5) + steps = new_step_pos - self.toolhead.stepper_pos[i] if not steps: continue - self.kin.stepper_pos[i] = new_step_pos + self.toolhead.stepper_pos[i] = new_step_pos sdir = 0 if steps < 0: sdir = 1 steps = -steps - clock_offset, clock_freq, so = self.kin.steppers[i].prep_move( + clock_offset, clock_freq, so = self.toolhead.steppers[i].prep_move( sdir, next_move_time) step_dist = self.move_d / steps @@ -107,11 +107,11 @@ class Move: so.step_sqrt( decel_steps, step_offset, clock_offset + decel_clock_offset , decel_sqrt_offset, -accel_multiplier) - self.kin.update_move_time(accel_t + cruise_t + decel_t) + self.toolhead.update_move_time(accel_t + cruise_t + decel_t) STALL_TIME = 0.100 -class CartKinematics: +class ToolHead: def __init__(self, printer, config): self.printer = printer self.reactor = printer.reactor diff --git a/klippy/gcode.py b/klippy/gcode.py index fc697b98..3ebd1afa 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -25,7 +25,7 @@ class GCodeParser: self.gcode_handlers = {} self.is_shutdown = False self.need_ack = False - self.kin = self.heater_nozzle = self.heater_bed = self.fan = None + self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None self.movemult = 1.0 self.speed = 1.0 self.absolutecoord = self.absoluteextrude = True @@ -34,7 +34,7 @@ class GCodeParser: self.homing_add = [0.0, 0.0, 0.0, 0.0] self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3} def build_config(self): - self.kin = self.printer.objects['kinematics'] + self.toolhead = self.printer.objects['toolhead'] self.heater_nozzle = self.printer.objects.get('heater_nozzle') self.heater_bed = self.printer.objects.get('heater_bed') self.fan = self.printer.objects.get('fan') @@ -62,7 +62,7 @@ class GCodeParser: self.reactor.run() def finish(self): self.reactor.end() - self.kin.motor_off() + self.toolhead.motor_off() logging.debug('Completed translation by klippy') def stats(self, eventtime): return "gcodein=%d" % (self.bytes_read,) @@ -103,8 +103,8 @@ class GCodeParser: # Check if machine can process next command or must stall input if self.busy_state is not None: break - if self.kin.check_busy(eventtime): - self.set_busy(self.kin) + if self.toolhead.check_busy(eventtime): + self.set_busy(self.toolhead) break self.ack() del self.input_commands[:i+1] @@ -142,7 +142,7 @@ class GCodeParser: def busy_handler(self, eventtime): busy = self.busy_state.check_busy(eventtime) if busy: - self.kin.reset_motor_off_time(eventtime) + self.toolhead.reset_motor_off_time(eventtime) return eventtime + self.RETRY_TIME self.busy_state = None self.ack() @@ -179,7 +179,7 @@ class GCodeParser: return self.set_busy(temp_busy_handler_wrapper()) def set_temp(self, heater, params, wait=False): - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() temp = float(params.get('S', '0')) heater.set_temp(print_time, temp) if wait: @@ -209,14 +209,14 @@ class GCodeParser: self.last_position[p] = v + self.base_position[p] if 'F' in params: self.speed = float(params['F']) / 60. - self.kin.move(self.last_position, self.speed, sloppy) + self.toolhead.move(self.last_position, self.speed, sloppy) def cmd_G4(self, params): # Dwell if 'S' in params: delay = float(params['S']) else: delay = float(params.get('P', '0')) / 1000. - self.kin.dwell(delay) + self.toolhead.dwell(delay) def cmd_G20(self, params): # Set units to inches self.movemult = 25.4 @@ -231,9 +231,9 @@ class GCodeParser: axis.append(self.axis2pos[a]) if not axis: axis = [0, 1, 2] - busy_handler = self.kin.home(axis) + busy_handler = self.toolhead.home(axis) def axis_update(axis): - newpos = self.kin.get_position() + newpos = self.toolhead.get_position() for a in axis: self.last_position[a] = newpos[a] self.base_position[a] = -self.homing_add[a] @@ -262,10 +262,10 @@ class GCodeParser: self.absoluteextrude = False def cmd_M18(self, params): # Turn off motors - self.kin.motor_off() + self.toolhead.motor_off() def cmd_M84(self, params): # Stop idle hold - self.kin.motor_off() + self.toolhead.motor_off() def cmd_M105(self, params): # Get Extruder Temperature self.ack(self.get_temp()) @@ -280,7 +280,7 @@ class GCodeParser: pass def cmd_M114(self, params): # Get Current Position - kinpos = self.kin.get_position() + kinpos = self.toolhead.get_position() self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count X:%.3f Y:%.3f Z:%.3f" % ( self.last_position[0], self.last_position[1], self.last_position[2], self.last_position[3], @@ -293,11 +293,11 @@ class GCodeParser: self.set_temp(self.heater_bed, params, wait=True) def cmd_M106(self, params): # Set fan speed - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() self.fan.set_speed(print_time, float(params.get('S', '255')) / 255.) def cmd_M107(self, params): # Turn fan off - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() self.fan.set_speed(print_time, 0) def cmd_M206(self, params): # Set home offset diff --git a/klippy/homing.py b/klippy/homing.py index 566cdf95..8eb0d065 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -7,8 +7,8 @@ import logging class Homing: - def __init__(self, kin, steppers): - self.kin = kin + def __init__(self, toolhead, steppers): + self.toolhead = toolhead self.steppers = steppers self.states = [] @@ -48,27 +48,27 @@ class Homing: def do_move(self, axis_pos, speed): # Issue a move command to axis_pos - newpos = self.kin.get_position() + newpos = self.toolhead.get_position() for axis, pos in axis_pos.items(): newpos[axis] = pos - self.kin.move(newpos, speed) + self.toolhead.move(newpos, speed) return False def do_home(self, axis_pos, speed): # Alter kinematics class to think printer is at axis_pos - newpos = self.kin.get_position() + newpos = self.toolhead.get_position() forcepos = list(newpos) for axis, pos in axis_pos.items(): newpos[axis] = self.steppers[axis].position_endstop forcepos[axis] = pos - self.kin.set_position(forcepos) + self.toolhead.set_position(forcepos) # Start homing and issue move - print_time = self.kin.get_last_move_time() + print_time = self.toolhead.get_last_move_time() for axis in axis_pos: hz = speed * self.steppers[axis].inv_step_dist es = self.steppers[axis].enable_endstop_checking(print_time, hz) self.endstops.append(es) - self.kin.move(newpos, speed) - self.kin.reset_print_time() + self.toolhead.move(newpos, speed) + self.toolhead.reset_print_time() for es in self.endstops: es.home_finalize() return False diff --git a/klippy/klippy.py b/klippy/klippy.py index 143dd762..a8d50c5e 100644 --- a/klippy/klippy.py +++ b/klippy/klippy.py @@ -58,13 +58,13 @@ class Printer: if self.fileconfig.has_section('heater_bed'): self.objects['heater_bed'] = heater.PrinterHeater( self, ConfigWrapper(self, 'heater_bed')) - self.objects['kinematics'] = cartesian.CartKinematics( + self.objects['toolhead'] = cartesian.ToolHead( self, self._pconfig) def stats(self, eventtime): out = [] out.append(self.gcode.stats(eventtime)) - out.append(self.objects['kinematics'].stats(eventtime)) + out.append(self.objects['toolhead'].stats(eventtime)) out.append(self.mcu.stats(eventtime)) logging.info("Stats %.0f: %s" % (eventtime, ' '.join(out))) return eventtime + 1.