mirror of https://github.com/Desuuuu/klipper.git
itersolve: Support setting the stepper position via a cartesian coordinate
Add support for an itersolve_set_position() function that sets a stepper position from a cartesian coordinate. This eliminates the need for both the python and C code to be able to translate from a cartesian coordinate to a stepper position. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
0216201cb6
commit
890298d34d
|
@ -319,19 +319,15 @@ Useful steps:
|
|||
seconds) to a cartesian coordinate (in millimeters), and then
|
||||
calculate the desired stepper position (in millimeters) from that
|
||||
cartesian coordinate.
|
||||
4. Implement the `set_position()` method in the python code. This also
|
||||
calculates the desired stepper positions given a cartesian
|
||||
coordinate.
|
||||
5. Implement the `calc_position()` method in the new kinematics class.
|
||||
4. Implement the `calc_position()` method in the new kinematics class.
|
||||
This method is the inverse of set_position(). It does not need to
|
||||
be efficient as it is typically only called during homing and
|
||||
probing operations.
|
||||
6. Implement the `move()` method. This method generally invokes the
|
||||
iterative solver for each stepper.
|
||||
7. Other methods. The `home()`, `check_move()`, and other methods
|
||||
should also be implemented. However, at the start of development
|
||||
one can use empty code here.
|
||||
8. Implement test cases. Create a g-code file with a series of moves
|
||||
5. Other methods. The `move()`, `home()`, `check_move()`, and other
|
||||
methods should also be implemented. These functions are typically
|
||||
used to provide kinematic specific checks. However, at the start of
|
||||
development one can use boiler-plate code here.
|
||||
6. Implement test cases. Create a g-code file with a series of moves
|
||||
that can test important cases for the given kinematics. Follow the
|
||||
[debugging documentation](Debugging.md) to convert this g-code file
|
||||
to micro-controller commands. This is useful to exercise corner
|
||||
|
|
|
@ -54,9 +54,8 @@ class CartKinematics:
|
|||
def calc_position(self):
|
||||
return [rail.get_commanded_position() for rail in self.rails]
|
||||
def set_position(self, newpos, homing_axes):
|
||||
for i in StepList:
|
||||
rail = self.rails[i]
|
||||
rail.set_position(newpos[i])
|
||||
for i, rail in enumerate(self.rails):
|
||||
rail.set_position(newpos)
|
||||
if i in homing_axes:
|
||||
self.limits[i] = rail.get_range()
|
||||
def _home_axis(self, homing_state, axis, rail):
|
||||
|
|
|
@ -51,6 +51,8 @@ defs_itersolve = """
|
|||
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
|
||||
void itersolve_set_stepcompress(struct stepper_kinematics *sk
|
||||
, struct stepcompress *sc, double step_dist);
|
||||
void itersolve_set_position(struct stepper_kinematics *sk
|
||||
, double x, double y, double z);
|
||||
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
|
||||
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
|
||||
"""
|
||||
|
|
|
@ -215,6 +215,16 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk
|
|||
sk->step_dist = step_dist;
|
||||
}
|
||||
|
||||
void __visible
|
||||
itersolve_set_position(struct stepper_kinematics *sk
|
||||
, double x, double y, double z)
|
||||
{
|
||||
struct move m;
|
||||
memset(&m, 0, sizeof(m));
|
||||
move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.);
|
||||
sk->commanded_pos = sk->calc_position(sk, &m, 0.);
|
||||
}
|
||||
|
||||
void __visible
|
||||
itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos)
|
||||
{
|
||||
|
|
|
@ -41,6 +41,9 @@ struct stepper_kinematics {
|
|||
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
|
||||
void itersolve_set_stepcompress(struct stepper_kinematics *sk
|
||||
, struct stepcompress *sc, double step_dist);
|
||||
void itersolve_set_position(struct stepper_kinematics *sk
|
||||
, double x, double y, double z);
|
||||
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
|
||||
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
|
||||
|
||||
#endif // itersolve.h
|
||||
|
|
|
@ -46,10 +46,8 @@ class CoreXYKinematics:
|
|||
pos = [rail.get_commanded_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):
|
||||
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
|
||||
for i in StepList:
|
||||
rail = self.rails[i]
|
||||
rail.set_position(pos[i])
|
||||
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):
|
||||
|
|
|
@ -87,19 +87,14 @@ class DeltaKinematics:
|
|||
self.set_position([0., 0., 0.], ())
|
||||
def get_rails(self, flags=""):
|
||||
return list(self.rails)
|
||||
def _cartesian_to_actuator(self, coord):
|
||||
return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2
|
||||
- (self.towers[i][1] - coord[1])**2) + coord[2]
|
||||
for i in StepList]
|
||||
def _actuator_to_cartesian(self, pos):
|
||||
return actuator_to_cartesian(self.towers, self.arm2, pos)
|
||||
def calc_position(self):
|
||||
spos = [rail.get_commanded_position() for rail in self.rails]
|
||||
return self._actuator_to_cartesian(spos)
|
||||
def set_position(self, newpos, homing_axes):
|
||||
pos = self._cartesian_to_actuator(newpos)
|
||||
for i in StepList:
|
||||
self.rails[i].set_position(pos[i])
|
||||
for rail in self.rails:
|
||||
rail.set_position(newpos)
|
||||
self.limit_xy2 = -1.
|
||||
if tuple(homing_axes) == StepList:
|
||||
self.need_home = False
|
||||
|
|
|
@ -71,9 +71,11 @@ class MCU_stepper:
|
|||
return self._oid
|
||||
def get_step_dist(self):
|
||||
return self._step_dist
|
||||
def set_position(self, pos):
|
||||
self._mcu_position_offset += self.get_commanded_position() - pos
|
||||
self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos)
|
||||
def set_position(self, newpos):
|
||||
orig_cmd_pos = self.get_commanded_position()
|
||||
self._ffi_lib.itersolve_set_position(
|
||||
self._stepper_kinematics, newpos[0], newpos[1], newpos[2])
|
||||
self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position()
|
||||
def get_commanded_position(self):
|
||||
return self._ffi_lib.itersolve_get_commanded_pos(
|
||||
self._stepper_kinematics)
|
||||
|
|
|
@ -243,9 +243,9 @@ class PrinterRail:
|
|||
def set_max_jerk(self, max_halt_velocity, max_accel):
|
||||
for stepper in self.steppers:
|
||||
stepper.set_max_jerk(max_halt_velocity, max_accel)
|
||||
def set_position(self, pos):
|
||||
def set_position(self, newpos):
|
||||
for stepper in self.steppers:
|
||||
stepper.set_position(pos)
|
||||
stepper.set_position(newpos)
|
||||
def motor_enable(self, print_time, enable=0):
|
||||
for stepper in self.steppers:
|
||||
stepper.motor_enable(print_time, enable)
|
||||
|
|
Loading…
Reference in New Issue