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itersolve: Support setting the stepper position via a cartesian coordinate

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Add support for an itersolve_set_position() function that sets a
stepper position from a cartesian coordinate.  This eliminates the
need for both the python and C code to be able to translate from a
cartesian coordinate to a stepper position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-22 13:03:07 -04:00
parent 0216201cb6
commit 890298d34d
9 changed files with 34 additions and 29 deletions
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5
klippy/cartesian.py
View File

@@ -54,9 +54,8 @@ class CartKinematics:
def calc_position(self):
return [rail.get_commanded_position() for rail in self.rails]
def set_position(self, newpos, homing_axes):
for i in StepList:
rail = self.rails[i]
rail.set_position(newpos[i])
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
if i in homing_axes:
self.limits[i] = rail.get_range()
def _home_axis(self, homing_state, axis, rail):

2
klippy/chelper/__init__.py
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@@ -51,6 +51,8 @@ defs_itersolve = """
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
void itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
"""

10
klippy/chelper/itersolve.c
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@@ -215,6 +215,16 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk
sk->step_dist = step_dist;
}
void __visible
itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z)
{
struct move m;
memset(&m, 0, sizeof(m));
move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.);
sk->commanded_pos = sk->calc_position(sk, &m, 0.);
}
void __visible
itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos)
{

3
klippy/chelper/itersolve.h
View File

@@ -41,6 +41,9 @@ struct stepper_kinematics {
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
void itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
#endif // itersolve.h

6
klippy/corexy.py
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@@ -46,10 +46,8 @@ class CoreXYKinematics:
pos = [rail.get_commanded_position() for rail in self.rails]
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
def set_position(self, newpos, homing_axes):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:
rail = self.rails[i]
rail.set_position(pos[i])
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
if i in homing_axes:
self.limits[i] = rail.get_range()
def home(self, homing_state):

9
klippy/delta.py
View File

@@ -87,19 +87,14 @@ class DeltaKinematics:
self.set_position([0., 0., 0.], ())
def get_rails(self, flags=""):
return list(self.rails)
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm2[i] - (self.towers[i][0] - coord[0])**2
- (self.towers[i][1] - coord[1])**2) + coord[2]
for i in StepList]
def _actuator_to_cartesian(self, pos):
return actuator_to_cartesian(self.towers, self.arm2, pos)
def calc_position(self):
spos = [rail.get_commanded_position() for rail in self.rails]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
pos = self._cartesian_to_actuator(newpos)
for i in StepList:
self.rails[i].set_position(pos[i])
for rail in self.rails:
rail.set_position(newpos)
self.limit_xy2 = -1.
if tuple(homing_axes) == StepList:
self.need_home = False

8
klippy/mcu.py
View File

@@ -71,9 +71,11 @@ class MCU_stepper:
return self._oid
def get_step_dist(self):
return self._step_dist
def set_position(self, pos):
self._mcu_position_offset += self.get_commanded_position() - pos
self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos)
def set_position(self, newpos):
orig_cmd_pos = self.get_commanded_position()
self._ffi_lib.itersolve_set_position(
self._stepper_kinematics, newpos[0], newpos[1], newpos[2])
self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position()
def get_commanded_position(self):
return self._ffi_lib.itersolve_get_commanded_pos(
self._stepper_kinematics)

4
klippy/stepper.py
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@@ -243,9 +243,9 @@ class PrinterRail:
def set_max_jerk(self, max_halt_velocity, max_accel):
for stepper in self.steppers:
stepper.set_max_jerk(max_halt_velocity, max_accel)
def set_position(self, pos):
def set_position(self, newpos):
for stepper in self.steppers:
stepper.set_position(pos)
stepper.set_position(newpos)
def motor_enable(self, print_time, enable=0):
for stepper in self.steppers:
stepper.motor_enable(print_time, enable)