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delta: Convert step generation to use trapq system 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-28 23:09:25 -04:00
parent b792e0fdd1
commit 351b565728
2 changed files with 9 additions and 12 deletions
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3
klippy/chelper/kin_delta.c
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@ -1,6 +1,6 @@
// Delta kinematics stepper pulse time generation // Delta kinematics stepper pulse time generation
// //
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> // Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
// //
// This file may be distributed under the terms of the GNU GPLv3 license. // This file may be distributed under the terms of the GNU GPLv3 license.
@ -36,5 +36,6 @@ delta_stepper_alloc(double arm2, double tower_x, double tower_y)
ds->tower_x = tower_x; ds->tower_x = tower_x;
ds->tower_y = tower_y; ds->tower_y = tower_y;
ds->sk.calc_position_cb = delta_stepper_calc_position; ds->sk.calc_position_cb = delta_stepper_calc_position;
ds->sk.active_flags = AF_X | AF_Y | AF_Z;
return &ds->sk; return &ds->sk;
} }

18
klippy/kinematics/delta.py
View File

@ -1,6 +1,6 @@
# Code for handling the kinematics of linear delta robots # Code for handling the kinematics of linear delta robots
# #
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging import math, logging
@ -51,8 +51,11 @@ class DeltaKinematics:
for angle in self.angles] for angle in self.angles]
for r, a, t in zip(self.rails, self.arm2, self.towers): for r, a, t in zip(self.rails, self.arm2, self.towers):
r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1]) r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1])
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_move_handler(s.generate_steps)
# Setup boundary checks # Setup boundary checks
self.need_motor_enable = self.need_home = True self.need_home = True
self.limit_xy2 = -1. self.limit_xy2 = -1.
self.home_position = tuple( self.home_position = tuple(
self._actuator_to_cartesian(self.abs_endstops)) self._actuator_to_cartesian(self.abs_endstops))
@ -106,11 +109,7 @@ class DeltaKinematics:
self.limit_xy2 = -1. self.limit_xy2 = -1.
for rail in self.rails: for rail in self.rails:
rail.motor_enable(print_time, 0) rail.motor_enable(print_time, 0)
self.need_motor_enable = self.need_home = True self.need_home = True
def _check_motor_enable(self, print_time):
for rail in self.rails:
rail.motor_enable(print_time, 1)
self.need_motor_enable = False
def check_move(self, move): def check_move(self, move):
end_pos = move.end_pos end_pos = move.end_pos
end_xy2 = end_pos[0]**2 + end_pos[1]**2 end_xy2 = end_pos[0]**2 + end_pos[1]**2
@ -146,10 +145,7 @@ class DeltaKinematics:
limit_xy2 = -1. limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2) self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def move(self, print_time, move): def move(self, print_time, move):
if self.need_motor_enable: pass
self._check_motor_enable(print_time)
for rail in self.rails:
rail.step_itersolve(move.cmove)
def get_status(self): def get_status(self):
return {'homed_axes': '' if self.need_home else 'XYZ'} return {'homed_axes': '' if self.need_home else 'XYZ'}