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stepper: Remove set_tag_position() code

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Have callers store the stepper positions in a dict.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-05-01 00:27:43 -04:00
parent 77bc5e4388
commit c0d860487a
17 changed files with 62 additions and 66 deletions
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4
klippy/kinematics/cartesian.py
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@@ -51,8 +51,8 @@ class CartKinematics:
dca = self.dual_carriage_axis
rails = rails[:dca] + self.dual_carriage_rails + rails[dca+1:]
return [s for rail in rails for s in rail.get_steppers()]
def calc_tag_position(self):
return [rail.get_tag_position() for rail in self.rails]
def calc_position(self, stepper_positions):
return [stepper_positions[rail.get_name()] for rail in self.rails]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)

4
klippy/kinematics/corexy.py
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@@ -36,8 +36,8 @@ class CoreXYKinematics:
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_tag_position(self):
pos = [rail.get_tag_position() for rail in self.rails]
def calc_position(self, stepper_positions):
pos = [stepper_positions[rail.get_name()] 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):
for i, rail in enumerate(self.rails):

4
klippy/kinematics/corexz.py
View File

@@ -36,8 +36,8 @@ class CoreXZKinematics:
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_tag_position(self):
pos = [rail.get_tag_position() for rail in self.rails]
def calc_position(self, stepper_positions):
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [0.5 * (pos[0] + pos[2]), pos[1], 0.5 * (pos[0] - pos[2])]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):

4
klippy/kinematics/delta.py
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@@ -92,8 +92,8 @@ class DeltaKinematics:
def _actuator_to_cartesian(self, spos):
sphere_coords = [(t[0], t[1], sp) for t, sp in zip(self.towers, spos)]
return mathutil.trilateration(sphere_coords, self.arm2)
def calc_tag_position(self):
spos = [rail.get_tag_position() for rail in self.rails]
def calc_position(self, stepper_positions):
spos = [stepper_positions[rail.get_name()] for rail in self.rails]
return self._actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
for rail in self.rails:

4
klippy/kinematics/hybrid_corexy.py
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@@ -37,8 +37,8 @@ class HybridCoreXYKinematics:
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_tag_position(self):
pos = [rail.get_tag_position() for rail in self.rails]
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):

4
klippy/kinematics/hybrid_corexz.py
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@@ -37,8 +37,8 @@ class HybridCoreXZKinematics:
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_tag_position(self):
pos = [rail.get_tag_position() for rail in self.rails]
def calc_position(self, stepper_positions):
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [pos[0] + pos[2], pos[1], pos[2]]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):

2
klippy/kinematics/none.py
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@@ -9,7 +9,7 @@ class NoneKinematics:
self.axes_minmax = toolhead.Coord(0., 0., 0., 0.)
def get_steppers(self):
return []
def calc_tag_position(self):
def calc_position(self, stepper_positions):
return [0, 0, 0]
def set_position(self, newpos, homing_axes):
pass

8
klippy/kinematics/polar.py
View File

@@ -38,10 +38,10 @@ class PolarKinematics:
self.axes_max = toolhead.Coord(max_xy, max_xy, max_z, 0.)
def get_steppers(self):
return list(self.steppers)
def calc_tag_position(self):
bed_angle = self.steppers[0].get_tag_position()
arm_pos = self.rails[0].get_tag_position()
z_pos = self.rails[1].get_tag_position()
def calc_position(self, stepper_positions):
bed_angle = stepper_positions[self.steppers[0].get_name()]
arm_pos = stepper_positions[self.rails[0].get_name()]
z_pos = stepper_positions[self.rails[1].get_name()]
return [math.cos(bed_angle) * arm_pos, math.sin(bed_angle) * arm_pos,
z_pos]
def set_position(self, newpos, homing_axes):

4
klippy/kinematics/rotary_delta.py
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@@ -79,8 +79,8 @@ class RotaryDeltaKinematics:
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_tag_position(self):
spos = [rail.get_tag_position() for rail in self.rails]
def calc_position(self, stepper_positions):
spos = [stepper_positions[rail.get_name()] for rail in self.rails]
return self.calibration.actuator_to_cartesian(spos)
def set_position(self, newpos, homing_axes):
for rail in self.rails:

6
klippy/kinematics/winch.py
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@@ -29,10 +29,10 @@ class WinchKinematics:
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return list(self.steppers)
def calc_tag_position(self):
def calc_position(self, stepper_positions):
# Use only first three steppers to calculate cartesian position
spos = [s.get_tag_position() for s in self.steppers[:3]]
return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in spos])
pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]]
return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in pos])
def set_position(self, newpos, homing_axes):
for s in self.steppers:
s.set_position(newpos)