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polar_crane.py
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polar_crane.py
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# Code for handling the kinematics of polar robots
#
# Copyright (C) 2018-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import stepper, mathutil, chelper
class PolarCraneKinematics:
def __init__(self, toolhead, config):
# Setup axis steppers
rail_column = stepper.PrinterRail(config.getsection('stepper_column'),
units_in_radians=True)
rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
rail_column.setup_itersolve('polar_stepper_alloc', b'a')
rail_arm.setup_itersolve('polar_stepper_alloc', b'r')
rail_z.setup_itersolve('cartesian_stepper_alloc', b'z')
self.rails = [rail_column, rail_arm, rail_z]
self.steppers = [ s for r in self.rails
for s in r.get_steppers() ]
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
config.get_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.limit_z = (1.0, -1.0)
self.limit_xy2 = -1.
max_xy = self.rails[1].get_range()[1]
min_z, max_z = self.rails[2].get_range()
self.axes_min = toolhead.Coord(-max_xy, -max_xy, min_z, 0.)
self.axes_max = toolhead.Coord(max_xy, max_xy, max_z, 0.)
# Homing trickery fake cartesial kinematic
self.printer = config.get_printer()
ffi_main, ffi_lib = chelper.get_ffi()
self.cartesian_kinematics_COL = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(b'x'), ffi_lib.free)
self.cartesian_kinematics_ARM = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(b'y'), ffi_lib.free)
def get_steppers(self):
return list(self.steppers)
def get_polar_steppers(self):
return list(self.steppers[0:2])
def calc_position(self, stepper_positions):
column_angle = stepper_positions[self.rails[0].get_name()]
arm_pos = stepper_positions[self.rails[1].get_name()]
z_pos = stepper_positions[self.rails[2].get_name()]
return [math.cos(column_angle) * arm_pos, math.sin(column_angle) * arm_pos,
z_pos]
def polar_to_cart(self, angle, radius):
return [math.cos(angle) * radius, math.sin(angle) * radius]
def set_position(self, newpos, homing_axes):
for s in self.steppers:
s.set_position(newpos)
if 2 in homing_axes:
self.limit_z = self.rails[2].get_range()
if 0 in homing_axes and 1 in homing_axes:
self.limit_xy2 = self.rails[1].get_range()[1]**2
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limit_z = (1.0, -1.0)
def home(self, homing_state):
# Always home XY together
homing_axes = homing_state.get_axes()
home_x = 0 in homing_axes
home_y = 1 in homing_axes
home_z = 2 in homing_axes
if home_x:
homing_state.set_axes([0])
rails = [self.rails[0], self.rails[1]]
col_endstop = rails[0].get_homing_info().position_endstop
col_min, col_max = rails[0].get_range()
arm_endstop = rails[1].get_homing_info().position_endstop
arm_min, arm_max = rails[1].get_range()
# Swap to linear kinematics
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
steppers = self.get_polar_steppers()
kinematics = [self.cartesian_kinematics_COL,
self.cartesian_kinematics_ARM]
prev_sks = [stepper.set_stepper_kinematics(kinematic)
for stepper, kinematic in zip(steppers, kinematics)]
try:
homepos = [col_endstop, arm_endstop, None, None]
hil = rails[0].get_homing_info()
if hil.positive_dir:
forcepos = [0, 0, None, None]
else:
forcepos = [col_max, 0, None, None]
homing_state.home_rails([rails[0]], forcepos, homepos)
for stepper, prev_sk in zip(steppers, prev_sks):
stepper.set_stepper_kinematics(prev_sk)
[x,y] = self.polar_to_cart(
rails[0].get_homing_info().position_endstop,
rails[1].get_homing_info().position_endstop)
toolhead.set_position( [x, y, 0, 0], (0, 1))
toolhead.flush_step_generation()
except Exception as e:
for stepper, prev_sk in zip(steppers, prev_sks):
stepper.set_stepper_kinematics(prev_sk)
toolhead.flush_step_generation()
raise
if home_y:
homing_state.set_axes([0, 1])
rails = [self.rails[0], self.rails[1]]
col_endstop = rails[0].get_homing_info().position_endstop
col_min, col_max = rails[0].get_range()
arm_endstop = rails[1].get_homing_info().position_endstop
arm_min, arm_max = rails[1].get_range()
# Swap to linear kinematics
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
steppers = self.get_polar_steppers()
kinematics = [self.cartesian_kinematics_COL,
self.cartesian_kinematics_ARM]
prev_sks = [stepper.set_stepper_kinematics(kinematic)
for stepper, kinematic in zip(steppers, kinematics)]
try:
homepos = [col_endstop, arm_endstop, None, None]
hil = rails[0].get_homing_info()
if hil.positive_dir:
forcepos = [0, 0, None, None]
else:
forcepos = [0, arm_max, None, None]
homing_state.home_rails([rails[1]], forcepos, homepos)
for stepper, prev_sk in zip(steppers, prev_sks):
stepper.set_stepper_kinematics(prev_sk)
[x,y] = self.polar_to_cart(
rails[0].get_homing_info().position_endstop,
rails[1].get_homing_info().position_endstop)
toolhead.set_position( [x, y, 0, 0], (0, 1))
toolhead.flush_step_generation()
except Exception as e:
for stepper, prev_sk in zip(steppers, prev_sks):
stepper.set_stepper_kinematics(prev_sk)
toolhead.flush_step_generation()
raise
if home_z:
rail = self.rails[2]
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
homepos = [None, None, None]
homepos[2] = hi.position_endstop
forcepos = list(homepos)
if hi.positive_dir:
forcepos[2] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[2] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def _motor_off(self, print_time):
self.limit_z = (1.0, -1.0)
self.limit_xy2 = -1.
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2
if xy2 > self.limit_xy2:
if self.limit_xy2 < 0.:
raise move.move_error("Must home axis first")
raise move.move_error()
if move.axes_d[2]:
if end_pos[2] < self.limit_z[0] or end_pos[2] > self.limit_z[1]:
if self.limit_z[0] > self.limit_z[1]:
raise move.move_error("Must home axis first")
raise move.move_error()
# Move with Z - update velocity and accel for slower Z axis
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):
xy_home = "xy" if self.limit_xy2 >= 0. else ""
z_home = "z" if self.limit_z[0] <= self.limit_z[1] else ""
return {
'homed_axes': xy_home + z_home,
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def load_kinematics(toolhead, config):
return PolarCraneKinematics(toolhead, config)