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winch: 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 23:35:22 -04:00
parent 4b5cbc18a4
commit 746b928c8b
2 changed files with 6 additions and 12 deletions
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3
klippy/chelper/kin_winch.c
View File

@ -1,6 +1,6 @@
// Cable winch stepper kinematics // Cable winch stepper kinematics
// //
// 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.
@ -37,5 +37,6 @@ winch_stepper_alloc(double anchor_x, double anchor_y, double anchor_z)
hs->anchor.y = anchor_y; hs->anchor.y = anchor_y;
hs->anchor.z = anchor_z; hs->anchor.z = anchor_z;
hs->sk.calc_position_cb = winch_stepper_calc_position; hs->sk.calc_position_cb = winch_stepper_calc_position;
hs->sk.active_flags = AF_X | AF_Y | AF_Z;
return &hs->sk; return &hs->sk;
} }

15
klippy/kinematics/winch.py
View File

@ -1,6 +1,6 @@
# Code for handling the kinematics of cable winch robots # Code for handling the kinematics of cable winch robots
# #
# 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.
import stepper, mathutil import stepper, mathutil
@ -20,13 +20,14 @@ class WinchKinematics:
a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz']) a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz'])
self.anchors.append(a) self.anchors.append(a)
s.setup_itersolve('winch_stepper_alloc', *a) s.setup_itersolve('winch_stepper_alloc', *a)
s.set_trapq(toolhead.get_trapq())
toolhead.register_move_handler(s.generate_steps)
# Setup stepper max halt velocity # Setup stepper max halt velocity
max_velocity, max_accel = toolhead.get_max_velocity() max_velocity, max_accel = toolhead.get_max_velocity()
max_halt_velocity = toolhead.get_max_axis_halt() max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers: for s in self.steppers:
s.set_max_jerk(max_halt_velocity, max_accel) s.set_max_jerk(max_halt_velocity, max_accel)
# Setup boundary checks # Setup boundary checks
self.need_motor_enable = True
self.set_position([0., 0., 0.], ()) self.set_position([0., 0., 0.], ())
def get_steppers(self, flags=""): def get_steppers(self, flags=""):
return list(self.steppers) return list(self.steppers)
@ -44,19 +45,11 @@ class WinchKinematics:
def motor_off(self, print_time): def motor_off(self, print_time):
for s in self.steppers: for s in self.steppers:
s.motor_enable(print_time, 0) s.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, print_time):
for s in self.steppers:
s.motor_enable(print_time, 1)
self.need_motor_enable = False
def check_move(self, move): def check_move(self, move):
# XXX - boundary checks and speed limits not implemented # XXX - boundary checks and speed limits not implemented
pass pass
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 s in self.steppers:
s.step_itersolve(move.cmove)
def get_status(self): def get_status(self):
# XXX - homed_checks and rail limits not implemented # XXX - homed_checks and rail limits not implemented
return {'homed_axes': 'XYZ'} return {'homed_axes': 'XYZ'}