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kinematics: Calculate axis_minimum/axis_maximum in advance 

Calculate the get_status() axis_minimum and axis_maximum fields in
advance so that they don't need to be calculated on each get_status()
call.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-01-08 11:52:28 -05:00
parent f79187d726
commit c8434ec54b
9 changed files with 71 additions and 77 deletions
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27
klippy/kinematics/cartesian.py
View File

@ -1,10 +1,10 @@
# Code for handling the kinematics of cartesian robots
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper, homing
import stepper
class CartKinematics:
def __init__(self, toolhead, config):
@ -23,17 +23,20 @@ class CartKinematics:
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat('max_z_accel', max_accel,
above=0., maxval=max_accel)
self.limits = [(1.0, -1.0)] * 3
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
self.rails[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), max_accel)
self.rails[2].set_max_jerk(min(max_halt_velocity, self.max_z_velocity),
max_accel)
# Check for dual carriage support
if config.has_section('dual_carriage'):
dc_config = config.getsection('dual_carriage')
@ -118,14 +121,10 @@ class CartKinematics:
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def get_status(self, eventtime):
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
axes_min = [0.0, 0.0, 0.0, 0.0]
axes_max = [0.0, 0.0, 0.0, 0.0]
for pos, rail in enumerate(self.rails):
axes_min[pos], axes_max[pos] = rail.get_range()
return {
'homed_axes': "".join(axes),
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
# Dual carriage support
def _activate_carriage(self, carriage):

15
klippy/kinematics/corexy.py
View File

@ -1,10 +1,10 @@
# Code for handling the kinematics of corexy robots
#
# Copyright (C) 2017-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2017-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper, homing
import stepper
class CoreXYKinematics:
def __init__(self, toolhead, config):
@ -31,6 +31,9 @@ class CoreXYKinematics:
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.limits = [(1.0, -1.0)] * 3
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
@ -95,14 +98,10 @@ class CoreXYKinematics:
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def get_status(self, eventtime):
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
axes_min = [0.0, 0.0, 0.0, 0.0]
axes_max = [0.0, 0.0, 0.0, 0.0]
for pos, rail in enumerate(self.rails):
axes_min[pos], axes_max[pos] = rail.get_range()
return {
'homed_axes': "".join(axes),
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def load_kinematics(toolhead, config):

13
klippy/kinematics/corexz.py
View File

@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper, homing
import stepper
class CoreXZKinematics:
def __init__(self, toolhead, config):
@ -31,6 +31,9 @@ class CoreXZKinematics:
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.limits = [(1.0, -1.0)] * 3
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
@ -94,14 +97,10 @@ class CoreXZKinematics:
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def get_status(self, eventtime):
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
axes_min = [0.0, 0.0, 0.0, 0.0]
axes_max = [0.0, 0.0, 0.0, 0.0]
for pos, rail in enumerate(self.rails):
axes_min[pos], axes_max[pos] = rail.get_range()
return {
'homed_axes': "".join(axes),
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def load_kinematics(toolhead, config):

34
klippy/kinematics/delta.py
View File

@ -1,10 +1,10 @@
# Code for handling the kinematics of linear delta robots
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, mathutil, homing
import stepper, mathutil
# Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
SLOW_RATIO = 3.
@ -68,25 +68,28 @@ class DeltaKinematics:
self.limit_z = min([ep - arm
for ep, arm in zip(self.abs_endstops, arm_lengths)])
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z))
"Delta max build height %.2fmm (radius tapered above %.2fmm)"
% (self.max_z, self.limit_z))
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([r.get_steppers()[0].get_step_dist()
for r in self.rails]) * .5
min_arm_length = min(arm_lengths)
def ratio_to_dist(ratio):
def ratio_to_xy(ratio):
return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.)
- half_min_step_dist**2)
+ half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
+ half_min_step_dist - radius)
self.slow_xy2 = ratio_to_xy(SLOW_RATIO)**2
self.very_slow_xy2 = ratio_to_xy(2. * SLOW_RATIO)**2
self.max_xy2 = min(print_radius, min_arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
ratio_to_xy(4. * SLOW_RATIO))**2
max_xy = math.sqrt(self.max_xy2)
logging.info("Delta max build radius %.2fmm (moves slowed past %.2fmm"
" and %.2fmm)" % (
math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
" and %.2fmm)"
% (max_xy, math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
@ -146,13 +149,10 @@ class DeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def get_status(self, eventtime):
max_xy = math.sqrt(self.max_xy2)
axes_min = [-max_xy, -max_xy, self.min_z, 0.]
axes_max = [max_xy, max_xy, self.max_z, 0.]
return {
'homed_axes': '' if self.need_home else 'xyz',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def get_calibration(self):
endstops = [rail.get_homing_info().position_endstop

10
klippy/kinematics/none.py
View File

@ -1,13 +1,12 @@
# Dummy "none" kinematics support (for developer testing)
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import homing
class NoneKinematics:
def __init__(self, toolhead, config):
pass
self.axes_minmax = toolhead.Coord(0., 0., 0., 0.)
def get_steppers(self):
return []
def calc_tag_position(self):
@ -19,11 +18,10 @@ class NoneKinematics:
def check_move(self, move):
pass
def get_status(self, eventtime):
axes_lim = [0.0, 0.0, 0.0, 0.0]
return {
'homed_axes': '',
'axis_minimum': homing.Coord(*axes_lim),
'axis_maximum': homing.Coord(*axes_lim)
'axis_minimum': self.axes_minmax,
'axis_maximum': self.axes_minmax,
}
def load_kinematics(toolhead, config):

16
klippy/kinematics/polar.py
View File

@ -1,10 +1,10 @@
# Code for handling the kinematics of polar robots
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper, homing
import stepper
class PolarKinematics:
def __init__(self, toolhead, config):
@ -32,6 +32,10 @@ class PolarKinematics:
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.limit_z = (1.0, -1.0)
self.limit_xy2 = -1.
max_xy = self.rails[0].get_range()[1]
min_z, max_z = self.rails[1].get_range()
self.axes_min = toolhead.Coord(-max_xy, -max_xy, min_z, 0.)
self.axes_max = toolhead.Coord(max_xy, max_xy, max_z, 0.)
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
stepper_bed.set_max_jerk(max_halt_velocity, max_accel)
@ -108,14 +112,10 @@ class PolarKinematics:
def get_status(self, eventtime):
xy_home = "xy" if self.limit_xy2 >= 0. else ""
z_home = "z" if self.limit_z[0] <= self.limit_z[1] else ""
lim_xy = self.rails[0].get_range()
lim_z = self.rails[1].get_range()
axes_min = [lim_xy[0], lim_xy[0], lim_z[0], 0.]
axes_max = [lim_xy[1], lim_xy[1], lim_z[1], 0.]
return {
'homed_axes': xy_home + z_home,
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def load_kinematics(toolhead, config):

14
klippy/kinematics/rotary_delta.py
View File

@ -1,10 +1,10 @@
# Code for handling the kinematics of rotary delta robots
#
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, mathutil, chelper, homing
import stepper, mathutil, chelper
class RotaryDeltaKinematics:
def __init__(self, toolhead, config):
@ -76,6 +76,9 @@ class RotaryDeltaKinematics:
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)"
% (self.max_z, self.limit_z))
max_xy = math.sqrt(self.max_xy2)
self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
@ -122,13 +125,10 @@ class RotaryDeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = limit_xy2
def get_status(self, eventtime):
max_xy = math.sqrt(self.max_xy2)
axes_min = [-max_xy, -max_xy, self.min_z, 0.]
axes_max = [max_xy, max_xy, self.max_z, 0.]
return {
'homed_axes': '' if self.need_home else 'XYZ',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def get_calibration(self):
return self.calibration

16
klippy/kinematics/winch.py
View File

@ -1,9 +1,9 @@
# Code for handling the kinematics of cable winch robots
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, mathutil, homing
import stepper, mathutil
class WinchKinematics:
def __init__(self, toolhead, config):
@ -28,6 +28,9 @@ class WinchKinematics:
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, max_accel)
# Setup boundary checks
acoords = zip(*self.anchors)
self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return list(self.steppers)
@ -47,15 +50,10 @@ class WinchKinematics:
pass
def get_status(self, eventtime):
# XXX - homed_checks and rail limits not implemented
axes_min = [0.0, 0.0, 0.0, 0.0]
axes_max = [0.0, 0.0, 0.0, 0.0]
for pos, axis in enumerate('xyz'):
axes_min[pos] = min([a[pos] for a in self.anchors])
axes_max[pos] = max([a[pos] for a in self.anchors])
return {
'homed_axes': 'xyz',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def load_kinematics(toolhead, config):

3
klippy/toolhead.py
View File

@ -196,6 +196,7 @@ class DripModeEndSignal(Exception):
# Main code to track events (and their timing) on the printer toolhead
class ToolHead:
Coord = homing.Coord
def __init__(self, config):
self.printer = config.get_printer()
self.reactor = self.printer.get_reactor()
@ -502,7 +503,7 @@ class ToolHead:
res.update({ 'print_time': print_time,
'estimated_print_time': estimated_print_time,
'extruder': self.extruder.get_name(),
'position': homing.Coord(*self.commanded_pos),
'position': self.Coord(*self.commanded_pos),
'max_velocity': self.max_velocity,
'max_accel': self.max_accel,
'max_accel_to_decel': self.requested_accel_to_decel,