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corexy: Convert corexy to use the iterative solver

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-09 14:30:22 -04:00
parent ca0d0135dc
commit fc4a9e7564
5 changed files with 138 additions and 42 deletions
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62
klippy/corexy.py
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@@ -1,10 +1,10 @@
# Code for handling the kinematics of corexy robots
#
# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper, homing
import stepper, homing, chelper
StepList = (0, 1, 2)
@@ -26,6 +26,15 @@ class CoreXYKinematics:
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.steppers[0].setup_itersolve(ffi_main.gc(
ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free))
self.steppers[1].setup_itersolve(ffi_main.gc(
ffi_lib.corexy_stepper_alloc('-'), ffi_lib.free))
self.steppers[2].setup_cartesian_itersolve('z')
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
@@ -124,38 +133,17 @@ class CoreXYKinematics:
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(print_time, move)
sxp = move.start_pos[0]
syp = move.start_pos[1]
move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2])
exp = move.end_pos[0]
eyp = move.end_pos[1]
axes_d = ((exp + eyp) - move_start_pos[0],
(exp - eyp) - move_start_pos[1], move.axes_d[2])
for i in StepList:
axis_d = axes_d[i]
if not axis_d:
continue
step_const = self.steppers[i].step_const
move_time = print_time
start_pos = move_start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
cruise_v = move.cruise_v * axis_r
# Acceleration steps
if move.accel_r:
accel_d = move.accel_r * axis_d
step_const(move_time, start_pos, accel_d,
move.start_v * axis_r, accel)
start_pos += accel_d
move_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
step_const(move_time, start_pos, decel_d, cruise_v, -accel)
axes_d = move.axes_d
cmove = self.cmove
self.move_fill(
cmove, print_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[0], move.start_pos[1], move.start_pos[2],
axes_d[0], axes_d[1], axes_d[2],
move.start_v, move.cruise_v, move.accel)
stepper_a, stepper_b, stepper_z = self.steppers
if axes_d[0] or axes_d[1]:
stepper_a.step_itersolve(cmove)
stepper_b.step_itersolve(cmove)
if axes_d[2]:
stepper_z.step_itersolve(cmove)