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corexy: Initial corexy kinematic implementation 

Add initial support for corexy kinematics.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-12 13:47:16 -04:00
parent 57f279677f
commit 49bdc6fbd1
5 changed files with 254 additions and 3 deletions
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84
config/example-corexy.cfg Normal file
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@ -0,0 +1,84 @@
# This file serves as documentation for config parameters of corexy
# style printers. One may copy and edit this file to configure a new
# corexy printer. Only parameters unique to corexy printers are
# described here - see the "example.cfg" file for description of
# common config parameters.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.
# The stepper_x section is used to describe the X axis as well as the
# stepper controlling the X+Y movement
[stepper_x]
step_pin: ar54
dir_pin: ar55
enable_pin: !ar38
step_distance: .01
endstop_pin: ^ar2
homing_speed: 50.0
position_min: 0
position_endstop: 0
position_max: 200
# The stepper_y section is used to describe the Y axis as well as the
# stepper controlling the X-Y movement
[stepper_y]
step_pin: ar60
dir_pin: ar61
enable_pin: !ar56
step_distance: .01
endstop_pin: ^ar15
homing_speed: 50.0
position_min: 0
position_endstop: 0
position_max: 200
[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: .01
endstop_pin: ^ar19
position_min: 0.1
position_endstop: 0.5
position_max: 200
[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: .0022
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: ar10
sensor_type: ATC Semitec 104GT-2
sensor_pin: analog13
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
min_temp: 0
max_temp: 130
[fan]
pin: ar9
[mcu]
serial: /dev/ttyACM0
pin_map: arduino
[printer]
kinematics: corexy
# This option must be "corexy" for corexy printers.
max_velocity: 300
max_accel: 3000
max_z_velocity: 25
max_z_accel: 30

4
config/example.cfg
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@ -1,6 +1,8 @@
# This file serves as documentation for config parameters. One may
# copy and edit this file to configure a new cartesian style
# printer. For delta style printers, see the "example-delta.cfg" file.
# printer. For delta style printers, see the "example-delta.cfg"
# file. For corexy/h-bot style printers, see the "example-corexy.cfg"
# file.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.

2
docs/Todo.md
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@ -85,7 +85,7 @@ Hardware features
* Smoothieboard / NXP LPC1769 (ARM cortex-M3)
* Unix based scheduling; Unix based real-time scheduling
* Support for additional kinematics: scara, corexy, etc.
* Support for additional kinematics: scara, etc.
* Support shared motor enable GPIO lines.

164
klippy/corexy.py Normal file
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@ -0,0 +1,164 @@
# Code for handling the kinematics of corexy robots
#
# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper, homing
StepList = (0, 1, 2)
class CoreXYKinematics:
def __init__(self, printer, config):
self.steppers = [stepper.PrinterStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
self.max_z_accel = config.getfloat('max_z_accel', 9999999.9)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(0., self.max_z_accel)
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:
s = self.steppers[i]
if pos[i] >= 0.:
steppos = int(pos[i]*s.inv_step_dist + 0.5)
else:
steppos = int(pos[i]*s.inv_step_dist - 0.5)
s.mcu_stepper.set_position(steppos)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
s = self.steppers[axis]
self.limits[axis] = (s.position_min, s.position_max)
# Determine moves
if s.homing_positive_dir:
pos = s.position_endstop - 1.5*(
s.position_endstop - s.position_min)
rpos = s.position_endstop - s.homing_retract_dist
r2pos = rpos - s.homing_retract_dist
else:
pos = s.position_endstop + 1.5*(
s.position_max - s.position_endstop)
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
# Initial homing
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(list(coord), homepos, [s], s.homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(list(coord), s.homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
if axis == 2:
# Support endstop phase detection on Z axis
coord[axis] = (s.position_endstop
+ s.get_homed_offset()*s.step_dist)
homing_state.set_homed_position(coord)
def motor_off(self, move_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, move_time, move):
if move.axes_d[0] or move.axes_d[1]:
self.steppers[0].motor_enable(move_time, 1)
self.steppers[1].motor_enable(move_time, 1)
if move.axes_d[2]:
self.steppers[2].motor_enable(move_time, 1)
need_motor_enable = False
for i in StepList:
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def query_endstops(self, print_time):
endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
return [(s.name, es.query_endstop_wait()) for s, es in endstops]
def _check_endstops(self, move):
end_pos = move.end_pos
for i in StepList:
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 move(self, move_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time, move)
inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v
sxp = move.start_pos[0]
syp = move.start_pos[1]
start_pos = (sxp + syp, sxp - syp, move.start_pos[2])
exp = move.end_pos[0]
eyp = move.end_pos[1]
end_pos = (exp + eyp, exp - eyp, move.start_pos[2])
axes_d = (end_pos[0] - start_pos[0], end_pos[1] - start_pos[1],
move.axes_d[2])
for i in StepList:
if not axes_d[i]:
continue
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
inv_step_dist = self.steppers[i].inv_step_dist
step_offset = step_pos - start_pos[i] * inv_step_dist
steps = axes_d[i] * inv_step_dist
move_step_d = move.move_d / abs(steps)
# Acceleration steps
accel_multiplier = 2.0 * move_step_d * inv_accel
if move.accel_r:
#t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
accel_time_offset = move.start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2
accel_steps = move.accel_r * steps
count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier)
step_offset += count - accel_steps
mcu_time += move.accel_t
# Cruising steps
if move.cruise_r:
#t = pos/cruise_v
cruise_multiplier = move_step_d * inv_cruise_v
cruise_steps = move.cruise_r * steps
count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier)
step_offset += count - cruise_steps
mcu_time += move.cruise_t
# Deceleration steps
if move.decel_r:
#t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
decel_time_offset = move.cruise_v * inv_accel
decel_sqrt_offset = decel_time_offset**2
decel_steps = move.decel_r * steps
count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier)

3
klippy/toolhead.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import cartesian, delta, extruder
import cartesian, corexy, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@ -185,6 +185,7 @@ class ToolHead:
if self.extruder is None:
self.extruder = extruder.DummyExtruder()
kintypes = {'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(printer, config)
self.max_speed = config.getfloat('max_velocity')