The caller can now determine which steppers are connected to cartesian
Z movement via the new stepper.is_active_axis() method. It is
therefore no longer necessary for the kinematic code to identify these
steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call. This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py. This simplifies the
toolhead and kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that all kinematics use the trapq system, there is no need to call
into the kinematics on each g-code move.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that homing is implemented via "drip moves", it is no longer
necessary to round the homing speed and it is no longer necessary to
add a delay for cpu processing time.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 459e5219 added a special case to the boundary checks to permit
homing moves. In some cases, the second home retract could also be
outside the normal boundary checks - extend the special case to also
permit that move.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When a delta printer has different arm lengths or different endstop
positions then the homing position falls outside of the normal
printable area. Add a special check to the range checking code to
permit this move instead of homing to a position near the actual
homing position.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the logic for performing the second home from the kinematics
classes to the generic homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit b0d859f2 introduced a second_homing_speed parameter, and it
also changed the retract speed. Revert the retract speed change (use
homing_speed when the head retracts).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the "stable position" logic from the delta.py kinematics code to
the delta_calibrate.py calibration code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If an arm is nearly parallel to the bed then that tower's carriage may
have a velocity up to 3 times greater than the toolhead's maximum
velocity (relative to the print). Take that into account when
calculating the stepper's maximum halt velocity.
This fixes some rare "No next step" shutdowns on delta printers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allocate the stepper_kinematics directly in mcu.py - that way the
kinematic classes don't have to interact with the chelper code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory. This is intended to make adding new
kinematics a little easier.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor
Florian Heilmann
Chris Whiteford