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kinematics: Calculate axis_minimum/axis_maximum in advance

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Calculate the get_status() axis_minimum and axis_maximum fields in
advance so that they don't need to be calculated on each get_status()
call.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-01-08 11:52:28 -05:00
parent f79187d726
commit c8434ec54b
9 changed files with 71 additions and 77 deletions
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16
klippy/kinematics/winch.py
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@@ -1,9 +1,9 @@
# Code for handling the kinematics of cable winch robots
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import stepper, mathutil, homing
import stepper, mathutil
class WinchKinematics:
def __init__(self, toolhead, config):
@@ -28,6 +28,9 @@ class WinchKinematics:
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, max_accel)
# Setup boundary checks
acoords = zip(*self.anchors)
self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return list(self.steppers)
@@ -47,15 +50,10 @@ class WinchKinematics:
pass
def get_status(self, eventtime):
# XXX - homed_checks and rail limits not implemented
axes_min = [0.0, 0.0, 0.0, 0.0]
axes_max = [0.0, 0.0, 0.0, 0.0]
for pos, axis in enumerate('xyz'):
axes_min[pos] = min([a[pos] for a in self.anchors])
axes_max[pos] = max([a[pos] for a in self.anchors])
return {
'homed_axes': 'xyz',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def load_kinematics(toolhead, config):