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kinematics: report all axis limits (min/max) 

Signed-off-by: Janar Sööt <janar.soot@gmail.com>
This commit is contained in:
Janar Sööt 2020-12-28 00:37:32 +02:00 committed by KevinOConnor
parent a5ebe5825a
commit e68cf08d15
9 changed files with 81 additions and 15 deletions
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5
docs/Command_Templates.md
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@ -187,6 +187,11 @@ The following are common printer attributes:
- `printer.toolhead.homed_axes`: The current cartesian axes considered
to be in a "homed" state. This is a string containing one or more of
"x", "y", "z".
- `printer.toolhead.axis_minimum`,
`printer.toolhead.axis_maximum`: The axis travel limits (mm) after homing.
It is possible to access the x, y, z components of this
limit value (eg, `printer.toolhead.axis_minimum.x`,
`printer.toolhead.axis_maximum.z`).
- `printer.toolhead.max_velocity`, `printer.toolhead.max_accel`,
`printer.toolhead.max_accel_to_decel`,
`printer.toolhead.square_corner_velocity`: The current printing

12
klippy/kinematics/cartesian.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper
import stepper, homing
class CartKinematics:
def __init__(self, toolhead, config):
@ -118,7 +118,15 @@ 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]
return { 'homed_axes': "".join(axes) }
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)
}
# Dual carriage support
def _activate_carriage(self, carriage):
toolhead = self.printer.lookup_object('toolhead')

12
klippy/kinematics/corexy.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper
import stepper, homing
class CoreXYKinematics:
def __init__(self, toolhead, config):
@ -95,7 +95,15 @@ 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]
return {'homed_axes': "".join(axes)}
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)
}
def load_kinematics(toolhead, config):
return CoreXYKinematics(toolhead, config)

12
klippy/kinematics/corexz.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper
import stepper, homing
class CoreXZKinematics:
def __init__(self, toolhead, config):
@ -94,7 +94,15 @@ 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]
return {'homed_axes': "".join(axes)}
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)
}
def load_kinematics(toolhead, config):
return CoreXZKinematics(toolhead, config)

11
klippy/kinematics/delta.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 stepper, mathutil
import stepper, mathutil, homing
# Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
SLOW_RATIO = 3.
@ -146,7 +146,14 @@ class DeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def get_status(self, eventtime):
return {'homed_axes': '' if self.need_home else 'xyz'}
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)
}
def get_calibration(self):
endstops = [rail.get_homing_info().position_endstop
for rail in self.rails]

8
klippy/kinematics/none.py
View File

@ -3,6 +3,7 @@
# Copyright (C) 2018 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):
@ -18,7 +19,12 @@ class NoneKinematics:
def check_move(self, move):
pass
def get_status(self, eventtime):
return {'homed_axes': ''}
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)
}
def load_kinematics(toolhead, config):
return NoneKinematics(toolhead, config)

12
klippy/kinematics/polar.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
import stepper, homing
class PolarKinematics:
def __init__(self, toolhead, config):
@ -108,7 +108,15 @@ 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 ""
return {'homed_axes': xy_home + z_home}
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)
}
def load_kinematics(toolhead, config):
return PolarKinematics(toolhead, config)

11
klippy/kinematics/rotary_delta.py
View File

@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, mathutil, chelper
import stepper, mathutil, chelper, homing
class RotaryDeltaKinematics:
def __init__(self, toolhead, config):
@ -122,7 +122,14 @@ class RotaryDeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = limit_xy2
def get_status(self, eventtime):
return {'homed_axes': '' if self.need_home else 'XYZ'}
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)
}
def get_calibration(self):
return self.calibration

13
klippy/kinematics/winch.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, mathutil
import stepper, mathutil, homing
class WinchKinematics:
def __init__(self, toolhead, config):
@ -47,7 +47,16 @@ class WinchKinematics:
pass
def get_status(self, eventtime):
# XXX - homed_checks and rail limits not implemented
return {'homed_axes': 'xyz'}
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)
}
def load_kinematics(toolhead, config):
return WinchKinematics(toolhead, config)