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polar: Add initial support for multiple bed rotations

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-06-20 15:44:45 -04:00
parent d9d94c858a
commit e5f74a64ed
4 changed files with 59 additions and 8 deletions
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11
klippy/kinematics/polar.py
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@@ -1,6 +1,6 @@
# Code for handling the kinematics of polar robots
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
@@ -122,8 +122,15 @@ class PolarKinematics:
axes_d = move.axes_d
cmove = move.cmove
if axes_d[0] or axes_d[1]:
self.steppers[0].step_itersolve(cmove)
self.rails[0].step_itersolve(cmove)
stepper_bed = self.steppers[0]
stepper_bed.step_itersolve(cmove)
# Normalize the stepper_bed angle
angle = stepper_bed.get_commanded_position()
if angle < -math.pi:
stepper_bed.set_commanded_position(angle + 2. * math.pi)
elif angle > math.pi:
stepper_bed.set_commanded_position(angle - 2. * math.pi)
if axes_d[2]:
self.rails[1].step_itersolve(cmove)