mirror of https://github.com/Desuuuu/klipper.git
137 lines
6.1 KiB
Python
137 lines
6.1 KiB
Python
# Code for handling the kinematics of corexy robots
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#
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# Copyright (C) 2017-2018 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 logging, math
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import stepper, homing
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class CoreXYKinematics:
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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.LookupMultiRail(config.getsection('stepper_z')) ]
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self.rails[0].add_to_endstop(self.rails[1].get_endstops()[0][0])
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self.rails[1].add_to_endstop(self.rails[0].get_endstops()[0][0])
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self.rails[0].setup_itersolve('corexy_stepper_alloc', '+')
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self.rails[1].setup_itersolve('corexy_stepper_alloc', '-')
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self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
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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.need_motor_enable = True
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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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self.rails[0].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel)
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self.rails[2].set_max_jerk(
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min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
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def get_steppers(self, flags=""):
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if flags == "Z":
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return self.rails[2].get_steppers()
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return [s for rail in self.rails for s in rail.get_steppers()]
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def calc_position(self):
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pos = [rail.get_commanded_position() for rail in self.rails]
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return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), 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 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 moves
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position_min, position_max = rail.get_range()
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hi = rail.get_homing_info()
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if hi.positive_dir:
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pos = hi.position_endstop - 1.5*(
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hi.position_endstop - position_min)
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rpos = hi.position_endstop - hi.retract_dist
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r2pos = rpos - hi.retract_dist
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else:
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pos = hi.position_endstop + 1.5*(
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position_max - hi.position_endstop)
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rpos = hi.position_endstop + hi.retract_dist
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r2pos = rpos + hi.retract_dist
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# Initial homing
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homing_speed = hi.speed
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if axis == 2:
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homing_speed = min(homing_speed, self.max_z_velocity)
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homepos = [None, None, None, None]
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homepos[axis] = hi.position_endstop
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coord = [None, None, None, None]
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coord[axis] = pos
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homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
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# Retract
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coord[axis] = rpos
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homing_state.retract(coord, homing_speed)
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# Home again
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coord[axis] = r2pos
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homing_state.home(coord, homepos, rail.get_endstops(),
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homing_speed/2.0, second_home=True)
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if axis == 2:
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# Support endstop phase detection on Z axis
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coord[axis] = hi.position_endstop + rail.get_homed_offset()
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homing_state.set_homed_position(coord)
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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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for rail in self.rails:
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rail.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, move):
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if move.axes_d[0] or move.axes_d[1]:
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self.rails[0].motor_enable(print_time, 1)
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self.rails[1].motor_enable(print_time, 1)
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if move.axes_d[2]:
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self.rails[2].motor_enable(print_time, 1)
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need_motor_enable = False
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for rail in self.rails:
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need_motor_enable |= not rail.is_motor_enabled()
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self.need_motor_enable = need_motor_enable
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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 move(self, print_time, move):
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if self.need_motor_enable:
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self._check_motor_enable(print_time, move)
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axes_d = move.axes_d
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cmove = move.cmove
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rail_x, rail_y, rail_z = self.rails
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if axes_d[0] or axes_d[1]:
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rail_x.step_itersolve(cmove)
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rail_y.step_itersolve(cmove)
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if axes_d[2]:
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rail_z.step_itersolve(cmove)
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def load_kinematics(toolhead, config):
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return CoreXYKinematics(toolhead, config)
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