mirror of https://github.com/Desuuuu/klipper.git
corexz: Add CoreXZ kinematics (#3129)
Add a CoreXZ kinematics Signed-off-by: Maks Zolin <mzolin@vorondesign.com>
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# This file serves as documentation for config parameters of corexz
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# style printers. One may copy and edit this file to configure a new
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# corexz printer. Only parameters unique to corexz printers are
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# described here - see the "example.cfg" file for description of common
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# config parameters.
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# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
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# FIRST. Incorrectly configured parameters may cause damage.
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# The stepper_x section is used to describe the X axis as well as the
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# stepper controlling the X+Z movement.
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[stepper_x]
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step_pin: ar54
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dir_pin: ar55
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enable_pin: !ar38
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step_distance: .01
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endstop_pin: ^ar3
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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[stepper_y]
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step_pin: ar60
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dir_pin: ar61
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enable_pin: !ar56
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step_distance: .01
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endstop_pin: ^ar14
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position_endstop: 0
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position_max: 200
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homing_speed: 50
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# The stepper_z section is used to describe the Z axis as well as the
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# stepper controlling the X-Z movement.
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[stepper_z]
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step_pin: ar46
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dir_pin: ar48
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enable_pin: !ar62
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step_distance: .0025
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endstop_pin: ^ar18
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position_endstop: 0.5
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position_max: 200
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[extruder]
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step_pin: ar26
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dir_pin: ar28
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enable_pin: !ar24
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step_distance: .0022
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: ar10
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sensor_type: ATC Semitec 104GT-2
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sensor_pin: analog13
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[heater_bed]
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heater_pin: ar8
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: analog14
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control: watermark
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min_temp: 0
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max_temp: 130
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[fan]
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pin: ar9
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[mcu]
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serial: /dev/ttyACM0
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pin_map: arduino
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[printer]
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kinematics: corexz
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# This option must be "corexz" for corexz printers.
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 50
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max_z_accel: 30
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@ -16,8 +16,9 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
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" -o %s %s")
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" -o %s %s")
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SOURCE_FILES = [
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SOURCE_FILES = [
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'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
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'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
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'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
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'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
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'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c',
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'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
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'kin_shaper.c',
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]
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]
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DEST_LIB = "c_helper.so"
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DEST_LIB = "c_helper.so"
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OTHER_FILES = [
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OTHER_FILES = [
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@ -78,6 +79,10 @@ defs_kin_corexy = """
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struct stepper_kinematics *corexy_stepper_alloc(char type);
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struct stepper_kinematics *corexy_stepper_alloc(char type);
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"""
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"""
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defs_kin_corexz = """
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struct stepper_kinematics *corexz_stepper_alloc(char type);
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"""
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defs_kin_delta = """
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defs_kin_delta = """
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struct stepper_kinematics *delta_stepper_alloc(double arm2
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struct stepper_kinematics *delta_stepper_alloc(double arm2
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, double tower_x, double tower_y);
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, double tower_x, double tower_y);
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@ -165,11 +170,10 @@ defs_std = """
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"""
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"""
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defs_all = [
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defs_all = [
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defs_pyhelper, defs_serialqueue, defs_std,
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defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
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defs_stepcompress, defs_itersolve, defs_trapq,
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defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy,
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defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
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defs_kin_corexz, defs_kin_delta, defs_kin_polar, defs_kin_rotary_delta,
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defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
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defs_kin_winch, defs_kin_extruder, defs_kin_shaper,
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defs_kin_shaper,
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]
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]
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# Return the list of file modification times
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# Return the list of file modification times
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@ -0,0 +1,40 @@
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// CoreXZ kinematics stepper pulse time generation
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//
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// Copyright (C) 2020 Maks Zolin <mzolin@vorondesign.com>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "trapq.h" // move_get_coord
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static double
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corexz_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct coord c = move_get_coord(m, move_time);
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return c.x + c.z;
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}
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static double
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corexz_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct coord c = move_get_coord(m, move_time);
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return c.x - c.z;
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}
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struct stepper_kinematics * __visible
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corexz_stepper_alloc(char type)
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{
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struct stepper_kinematics *sk = malloc(sizeof(*sk));
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memset(sk, 0, sizeof(*sk));
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if (type == '+')
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sk->calc_position_cb = corexz_stepper_plus_calc_position;
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else if (type == '-')
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sk->calc_position_cb = corexz_stepper_minus_calc_position;
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sk->active_flags = AF_X | AF_Z;
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return sk;
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}
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@ -0,0 +1,101 @@
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# Code for handling the kinematics of corexz robots
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#
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# Copyright (C) 2020 Maks Zolin <mzolin@vorondesign.com>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, math
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import stepper, homing
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class CoreXZKinematics:
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def __init__(self, toolhead, config):
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# Setup axis rails
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self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
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stepper.PrinterRail(config.getsection('stepper_y')),
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stepper.PrinterRail(config.getsection('stepper_z')) ]
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self.rails[0].get_endstops()[0][0].add_stepper(
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self.rails[2].get_steppers()[0])
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self.rails[2].get_endstops()[0][0].add_stepper(
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self.rails[0].get_steppers()[0])
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self.rails[0].setup_itersolve('corexz_stepper_alloc', '+')
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self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
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self.rails[2].setup_itersolve('corexz_stepper_alloc', '-')
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for s in self.get_steppers():
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s.set_trapq(toolhead.get_trapq())
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toolhead.register_step_generator(s.generate_steps)
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config.get_printer().register_event_handler("stepper_enable:motor_off",
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self._motor_off)
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# Setup boundary checks
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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self.max_z_accel = config.getfloat(
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'max_z_accel', max_accel, above=0., maxval=max_accel)
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self.limits = [(1.0, -1.0)] * 3
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# Setup stepper max halt velocity
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max_halt_velocity = toolhead.get_max_axis_halt()
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max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
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max_xy_accel = max_accel * math.sqrt(2.)
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self.rails[0].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
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self.rails[1].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
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self.rails[2].set_max_jerk(max_xy_halt_velocity, max_xy_accel)
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def get_steppers(self):
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return [s for rail in self.rails for s in rail.get_steppers()]
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def calc_tag_position(self):
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pos = [rail.get_tag_position() for rail in self.rails]
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return [0.5 * (pos[0] + pos[2]), pos[1], 0.5 * (pos[0] - pos[2])]
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def set_position(self, newpos, homing_axes):
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for i, rail in enumerate(self.rails):
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rail.set_position(newpos)
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if i in homing_axes:
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self.limits[i] = rail.get_range()
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def note_z_not_homed(self):
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# Helper for Safe Z Home
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self.limits[2] = (1.0, -1.0)
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def home(self, homing_state):
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# Each axis is homed independently and in order
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for axis in homing_state.get_axes():
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rail = self.rails[axis]
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# Determine movement
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position_min, position_max = rail.get_range()
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hi = rail.get_homing_info()
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homepos = [None, None, None, None]
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homepos[axis] = hi.position_endstop
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forcepos = list(homepos)
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if hi.positive_dir:
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forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
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else:
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forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
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# Perform homing
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homing_state.home_rails([rail], forcepos, homepos)
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def _motor_off(self, print_time):
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self.limits = [(1.0, -1.0)] * 3
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def _check_endstops(self, move):
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end_pos = move.end_pos
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for i in (0, 1, 2):
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if (move.axes_d[i]
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and (end_pos[i] < self.limits[i][0]
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or end_pos[i] > self.limits[i][1])):
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if self.limits[i][0] > self.limits[i][1]:
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raise homing.EndstopMoveError(
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end_pos, "Must home axis first")
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raise homing.EndstopMoveError(end_pos)
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def check_move(self, move):
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limits = self.limits
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xpos, ypos = move.end_pos[:2]
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if (xpos < limits[0][0] or xpos > limits[0][1]
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or ypos < limits[1][0] or ypos > limits[1][1]):
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self._check_endstops(move)
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if not move.axes_d[2]:
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# Normal XY move - use defaults
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return
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# Move with Z - update velocity and accel for slower Z axis
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self._check_endstops(move)
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z_ratio = move.move_d / abs(move.axes_d[2])
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move.limit_speed(
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self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
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def get_status(self, eventtime):
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axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
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return {'homed_axes': "".join(axes)}
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def load_kinematics(toolhead, config):
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return CoreXZKinematics(toolhead, config)
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@ -5,6 +5,7 @@ GCODE move.gcode
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DICTIONARY atmega2560.dict
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DICTIONARY atmega2560.dict
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CONFIG ../../config/example.cfg
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CONFIG ../../config/example.cfg
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CONFIG ../../config/example-corexy.cfg
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CONFIG ../../config/example-corexy.cfg
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CONFIG ../../config/example-corexz.cfg
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CONFIG ../../config/example-delta.cfg
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CONFIG ../../config/example-delta.cfg
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CONFIG ../../config/example-rotary-delta.cfg
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CONFIG ../../config/example-rotary-delta.cfg
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CONFIG ../../config/example-winch.cfg
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CONFIG ../../config/example-winch.cfg
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