mirror of https://github.com/Desuuuu/klipper.git
101 lines
4.5 KiB
Python
101 lines
4.5 KiB
Python
# Code for handling the kinematics of hybrid-corexy robots
|
|
#
|
|
# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging
|
|
import stepper
|
|
|
|
# The hybrid-corexy kinematic is also known as Markforged kinematics
|
|
class HybridCoreXYKinematics:
|
|
def __init__(self, toolhead, config):
|
|
self.printer = config.get_printer()
|
|
printer_config = config.getsection('printer')
|
|
# itersolve parameters
|
|
self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
|
|
stepper.LookupMultiRail(config.getsection('stepper_y')),
|
|
stepper.LookupMultiRail(config.getsection('stepper_z'))]
|
|
self.rails[2].get_endstops()[0][0].add_stepper(
|
|
self.rails[0].get_steppers()[0])
|
|
self.rails[0].setup_itersolve('corexy_stepper_alloc', '-')
|
|
self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y')
|
|
self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z')
|
|
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.)
|
|
for s in self.get_steppers():
|
|
s.set_trapq(toolhead.get_trapq())
|
|
toolhead.register_step_generator(s.generate_steps)
|
|
self.printer.register_event_handler("stepper_enable:motor_off",
|
|
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.limits = [(1.0, -1.0)] * 3
|
|
def get_steppers(self):
|
|
return [s for rail in self.rails for s in rail.get_steppers()]
|
|
def calc_position(self, stepper_positions):
|
|
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
|
|
return [pos[0] + pos[1], pos[1], pos[2]]
|
|
def set_position(self, newpos, homing_axes):
|
|
for i, rail in enumerate(self.rails):
|
|
rail.set_position(newpos)
|
|
if i in homing_axes:
|
|
self.limits[i] = rail.get_range()
|
|
def note_z_not_homed(self):
|
|
# Helper for Safe Z Home
|
|
self.limits[2] = (1.0, -1.0)
|
|
def _home_axis(self, homing_state, axis, rail):
|
|
position_min, position_max = rail.get_range()
|
|
hi = rail.get_homing_info()
|
|
homepos = [None, None, None, None]
|
|
homepos[axis] = hi.position_endstop
|
|
forcepos = list(homepos)
|
|
if hi.positive_dir:
|
|
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
|
|
else:
|
|
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
|
|
# Perform homing
|
|
homing_state.home_rails([rail], forcepos, homepos)
|
|
def home(self, homing_state):
|
|
for axis in homing_state.get_axes():
|
|
self._home_axis(homing_state, axis, self.rails[axis])
|
|
def _motor_off(self, print_time):
|
|
self.limits = [(1.0, -1.0)] * 3
|
|
def _check_endstops(self, move):
|
|
end_pos = move.end_pos
|
|
for i in (0, 1, 2):
|
|
if (move.axes_d[i]
|
|
and (end_pos[i] < self.limits[i][0]
|
|
or end_pos[i] > self.limits[i][1])):
|
|
if self.limits[i][0] > self.limits[i][1]:
|
|
raise move.move_error("Must home axis first")
|
|
raise move.move_error()
|
|
def check_move(self, move):
|
|
limits = self.limits
|
|
xpos, ypos = move.end_pos[:2]
|
|
if (xpos < limits[0][0] or xpos > limits[0][1]
|
|
or ypos < limits[1][0] or ypos > limits[1][1]):
|
|
self._check_endstops(move)
|
|
if not move.axes_d[2]:
|
|
# Normal XY move - use defaults
|
|
return
|
|
# Move with Z - update velocity and accel for slower Z axis
|
|
self._check_endstops(move)
|
|
z_ratio = move.move_d / abs(move.axes_d[2])
|
|
move.limit_speed(
|
|
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),
|
|
'axis_minimum': self.axes_min,
|
|
'axis_maximum': self.axes_max,
|
|
}
|
|
|
|
def load_kinematics(toolhead, config):
|
|
return HybridCoreXYKinematics(toolhead, config)
|