klipper update

klippy/kinematics/winch.py

@@ -0,0 +1,55 @@
+# Code for handling the kinematics of cable winch 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 stepper, mathutil
+
+class WinchKinematics:
+    def __init__(self, toolhead, config):
+        # Setup steppers at each anchor
+        self.steppers = []
+        self.anchors = []
+        for i in range(26):
+            name = 'stepper_' + chr(ord('a') + i)
+            if i >= 3 and not config.has_section(name):
+                break
+            stepper_config = config.getsection(name)
+            s = stepper.PrinterStepper(stepper_config)
+            self.steppers.append(s)
+            a = tuple([stepper_config.getfloat('anchor_' + n) for n in 'xyz'])
+            self.anchors.append(a)
+            s.setup_itersolve('winch_stepper_alloc', *a)
+            s.set_trapq(toolhead.get_trapq())
+            toolhead.register_step_generator(s.generate_steps)
+        # Setup boundary checks
+        acoords = list(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)
+    def calc_position(self, stepper_positions):
+        # Use only first three steppers to calculate cartesian position
+        pos = [stepper_positions[rail.get_name()] for rail in self.steppers[:3]]
+        return mathutil.trilateration(self.anchors[:3], [sp*sp for sp in pos])
+    def set_position(self, newpos, homing_axes):
+        for s in self.steppers:
+            s.set_position(newpos)
+    def home(self, homing_state):
+        # XXX - homing not implemented
+        homing_state.set_axes([0, 1, 2])
+        homing_state.set_homed_position([0., 0., 0.])
+    def check_move(self, move):
+        # XXX - boundary checks and speed limits not implemented
+        pass
+    def get_status(self, eventtime):
+        # XXX - homed_checks and rail limits not implemented
+        return {
+            'homed_axes': 'xyz',
+            'axis_minimum': self.axes_min,
+            'axis_maximum': self.axes_max,
+        }
+
+def load_kinematics(toolhead, config):
+    return WinchKinematics(toolhead, config)