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ratos_hybrid_corexy.py
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ratos_hybrid_corexy.py
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# Code for handling the kinematics of hybrid-corexy robots
#
# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com>
# Modified 2023 by Helge Magnus Keck <helgekeck@hotmail.com>
# Modified 2024 by Mikkel Schmidt <mikkel.schmidt@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import stepper
from . import idex_modes
# The hybrid-corexy kinematic is also known as Markforged kinematics
class RatOSHybridCoreXYKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
self.inverted = False
if config.has_section('ratos_hybrid_corexy'):
hcxy_config = config.getsection('ratos_hybrid_corexy')
self.inverted = hcxy_config.getboolean('inverted', False)
# itersolve parameters
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
for n in 'xyz']
for s in self.rails[0].get_steppers():
self.rails[1].get_endstops()[0][0].add_stepper(s)
if self.inverted == False:
self.rails[0].steppers[0].setup_itersolve('corexy_stepper_alloc', b'-')
if len(self.rails[0].steppers)==2:
self.rails[0].steppers[1].setup_itersolve('corexy_stepper_alloc', b'+')
if len(self.rails[0].steppers)>2:
raise self.error("Unexpected stepper configuration")
else:
self.rails[0].steppers[0].setup_itersolve('corexy_stepper_alloc', b'+')
if len(self.rails[0].steppers)==2:
self.rails[0].steppers[1].setup_itersolve('corexy_stepper_alloc', b'-')
if len(self.rails[0].steppers)>2:
raise self.error("Unexpected stepper configuration")
self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y')
self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
self.dc_module = None
if config.has_section('dual_carriage'):
dc_config = config.getsection('dual_carriage')
# dummy for cartesian config users
dc_config.getchoice('axis', {'x': 'x'}, default='x')
# setup second dual carriage rail
self.rails.append(stepper.LookupMultiRail(dc_config))
for s in self.rails[3].get_steppers():
self.rails[1].get_endstops()[0][0].add_stepper(s)
if self.inverted == False:
self.rails[3].steppers[0].setup_itersolve('corexy_stepper_alloc', b'+')
if len(self.rails[3].steppers)==2:
self.rails[3].steppers[1].setup_itersolve('corexy_stepper_alloc', b'-')
if len(self.rails[3].steppers)>2:
raise self.error("Unexpected stepper configuration")
else:
self.rails[3].steppers[0].setup_itersolve('corexy_stepper_alloc', b'-')
if len(self.rails[3].steppers)==2:
self.rails[3].steppers[1].setup_itersolve('corexy_stepper_alloc', b'+')
if len(self.rails[3].steppers)>2:
raise self.error("Unexpected stepper configuration")
dc_rail_0 = idex_modes.DualCarriagesRail(
self.rails[0], axis=0, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.rails[3], axis=0, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1, axis=0)
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
self.printer.register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
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_position(self, stepper_positions):
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
if (self.dc_module is not None and 'PRIMARY' == \
self.dc_module.get_status()['carriage_1']):
if self.inverted == False:
return [pos[3] - pos[1], pos[1], pos[2]]
else:
return [pos[3] + pos[1], pos[1], pos[2]]
else:
if self.inverted == False:
return [pos[0] + pos[1], pos[1], pos[2]]
else:
return [pos[0] - pos[1], pos[1], pos[2]]
def update_limits(self, i, range):
l, h = self.limits[i]
# Only update limits if this axis was already homed,
# otherwise leave in un-homed state.
if l <= h:
self.limits[i] = range
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
for axis in homing_axes:
if self.dc_module and axis == self.dc_module.axis:
rail = self.dc_module.get_primary_rail().get_rail()
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def home_axis(self, homing_state, axis, rail):
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
homepos = [None, None, None, None]
homepos[axis] = hi.position_endstop
forcepos = list(homepos)
if hi.positive_dir:
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def home(self, homing_state):
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == 0:
self.dc_module.home(homing_state)
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):
if (move.axes_d[i]
and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise move.move_error("Must home axis first")
raise move.move_error()
def check_move(self, move):
limits = self.limits
xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]):
self._check_endstops(move)
if not move.axes_d[2]:
# Normal XY move - use defaults
return
# Move with Z - update velocity and accel for slower Z axis
self._check_endstops(move)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def get_status(self, eventtime):
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
return {
'homed_axes': "".join(axes),
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max
}
def load_kinematics(toolhead, config):
return RatOSHybridCoreXYKinematics(toolhead, config)