mirror of https://github.com/Desuuuu/klipper.git
63 lines
2.5 KiB
Python
63 lines
2.5 KiB
Python
# Code for handling the kinematics of cable winch robots
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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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 stepper, mathutil
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class WinchKinematics:
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def __init__(self, toolhead, config):
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# Setup steppers at each anchor
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self.steppers = []
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self.anchors = []
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for i in range(26):
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name = 'stepper_' + chr(ord('a') + i)
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if i >= 3 and not config.has_section(name):
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break
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stepper_config = config.getsection(name)
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s = stepper.PrinterStepper(stepper_config)
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self.steppers.append(s)
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a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz'])
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self.anchors.append(a)
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s.setup_itersolve('winch_stepper_alloc', *a)
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# Setup stepper max halt velocity
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max_velocity, max_accel = toolhead.get_max_velocity()
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max_halt_velocity = toolhead.get_max_axis_halt()
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for s in self.steppers:
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s.set_max_jerk(max_halt_velocity, max_accel)
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# Setup boundary checks
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self.need_motor_enable = True
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self.set_position([0., 0., 0.], ())
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def get_steppers(self, flags=""):
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return list(self.steppers)
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def calc_position(self):
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# Use only first three steppers to calculate cartesian position
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spos = [s.get_commanded_position() for s in self.steppers[:3]]
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return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
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def set_position(self, newpos, homing_axes):
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for s in self.steppers:
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s.set_position(newpos)
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def home(self, homing_state):
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# XXX - homing not implemented
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homing_state.set_axes([0, 1, 2])
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homing_state.set_homed_position([0., 0., 0.])
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def motor_off(self, print_time):
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for s in self.steppers:
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s.motor_enable(print_time, 0)
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self.need_motor_enable = True
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def _check_motor_enable(self, print_time):
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for s in self.steppers:
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s.motor_enable(print_time, 1)
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self.need_motor_enable = False
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def check_move(self, move):
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# XXX - boundary checks and speed limits not implemented
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pass
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def move(self, print_time, move):
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if self.need_motor_enable:
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self._check_motor_enable(print_time)
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for s in self.steppers:
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s.step_itersolve(move.cmove)
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def load_kinematics(toolhead, config):
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return WinchKinematics(toolhead, config)
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